Safe Autonomous Overtaking with Intention Estimation.

Vishnu S. Chipade Qiang Shen 0003 Lixing Huang Necmiye Ozay Sze Zheng Yong Dimitra Panagou

ECC

@inproceedings{DBLP:conf/eucc/ChipadeSHOYP19,
  author       = {Vishnu S. Chipade and
                  Qiang Shen and
                  Lixing Huang and
                  Necmiye Ozay and
                  Sze Zheng Yong and
                  Dimitra Panagou},
  title        = {Safe Autonomous Overtaking with Intention Estimation},
  booktitle    = {17th European Control Conference, {ECC} 2019, Naples, Italy, June
                  25-28, 2019},
  pages        = {2050--2057},
  publisher    = {{IEEE}},
  year         = {2019},
  url          = {https://doi.org/10.23919/ECC.2019.8795715},
  doi          = {10.23919/ECC.2019.8795715},
  timestamp    = {Wed, 07 Dec 2022 23:07:12 +0100},
  biburl       = {https://dblp.org/rec/conf/eucc/ChipadeSHOYP19.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

Abstract

This paper investigates the problem of overtaking a lead car by an autonomous ego car on a two-lane road in the presence of an oncoming car. We propose an intention-aware overtaking controller for the ego car. The intention of the lead car is estimated via a combination of active model discrimination and model selection algorithms. Then, a safe overtaking controller is designed based on vector fields that take into account the estimated intent, and ensure safety of the overtaking maneuver. Simulation results demonstrate the efficacy of the proposed approach.

Authors

Dimitra Panagou

link /

Bib

@inproceedings{DBLP:conf/eucc/ChipadeSHOYP19,
  author       = {Vishnu S. Chipade and
                  Qiang Shen and
                  Lixing Huang and
                  Necmiye Ozay and
                  Sze Zheng Yong and
                  Dimitra Panagou},
  title        = {Safe Autonomous Overtaking with Intention Estimation},
  booktitle    = {17th European Control Conference, {ECC} 2019, Naples, Italy, June
                  25-28, 2019},
  pages        = {2050--2057},
  publisher    = {{IEEE}},
  year         = {2019},
  url          = {https://doi.org/10.23919/ECC.2019.8795715},
  doi          = {10.23919/ECC.2019.8795715},
  timestamp    = {Wed, 07 Dec 2022 23:07:12 +0100},
  biburl       = {https://dblp.org/rec/conf/eucc/ChipadeSHOYP19.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}