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Stochastic Modeling...
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Gao, YulongKTH,Reglerteknik
(författare)
Stochastic Modeling and Optimal Control for Automated Overtaking
- Artikel/kapitelEngelska2019
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Institute of Electrical and Electronics Engineers Inc.2019
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LIBRIS-ID:oai:DiVA.org:kth-274082
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https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-274082URI
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https://doi.org/10.1109/CDC40024.2019.9029505DOI
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Språk:engelska
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Sammanfattning på:engelska
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Ämneskategori:ref swepub-contenttype
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Ämneskategori:kon swepub-publicationtype
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QC 20200702
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This paper proposes a solution to the overtaking problem where an automated vehicle tries to overtake a human-driven vehicle, which may not be moving at a constant velocity. Using reachability theory, we first provide a robust time-optimal control algorithm to guarantee that there is no collision throughout the overtaking process. Following the robust formulation, we provide a stochastic reachability formulation that allows a trade-off between the conservative overtaking time and the allowance of a small collision probability. To capture the stochasticity of a human driver's behavior, we propose a new martingale-based model where we classify the human driver as aggressive or nonaggressive. We show that if the human driver is nonaggressive, our stochastic time-optimal control algorithm can provide a shorter overtaking time than our robust algorithm, whereas if the human driver is aggressive, the stochastic algorithm will act on a collision probability of zero, which will match the robust algorithm. Finally, we detail a simulated example that illustrates the effectiveness of the proposed algorithms.
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Jiang, FrankKTH,Reglerteknik(Swepub:kth)u16ff4o2
(författare)
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Johansson, Karl H.,1967-KTH,Reglerteknik,ACCESS Linnaeus Centre(Swepub:kth)u1h0d9k2
(författare)
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Xie, L.
(författare)
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KTHReglerteknik
(creator_code:org_t)
Sammanhörande titlar
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Ingår i:Proceedings of the IEEE Conference on Decision and Control: Institute of Electrical and Electronics Engineers Inc., s. 1273-12789781728113982
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