Stochastic Modeling and Optimal Control for Automated Overtaking

QC 20200702
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.

TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik Reglerteknik hsv//swe
ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering hsv//eng
Behavioral research
Economic and social effects
Stochastic control systems
Transport properties
Automated vehicles
Collision probability
Constant velocities
Optimal controls
Reachability theory
Robust formulations
Stochastic algorithms
Time optimal control
Stochastic systems

Jiang, FrankKTH,Reglerteknik(Swepub:kth)u16ff4o2 (author)
Johansson, Karl H.,1967-KTH,Reglerteknik,ACCESS Linnaeus Centre(Swepub:kth)u1h0d9k2 (author)
Xie, L. (author)
KTHReglerteknik (creator_code:org_t)

In:Proceedings of the IEEE Conference on Decision and Control: Institute of Electrical and Electronics Engineers Inc., s. 1273-12789781728113982

By the author/editor: Gao, Yulong; Jiang, Frank; Johansson, Karl ...; Xie, L.

About the subject

ENGINEERING AND TECHNOLOGY: ENGINEERING AND ...; and Electrical Engin ...; and Control Engineer ...

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