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Stochastic Modeling...
Stochastic Modeling and Optimal Control for Automated Overtaking
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- Gao, Yulong (author)
- KTH,Reglerteknik
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- Jiang, Frank (author)
- KTH,Reglerteknik
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- Johansson, Karl H., 1967- (author)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
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Xie, L. (author)
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers Inc. 2019
- 2019
- English.
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In: Proceedings of the IEEE Conference on Decision and Control. - : Institute of Electrical and Electronics Engineers Inc.. - 9781728113982 ; , s. 1273-1278
- Related links:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Subject headings
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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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- 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
Publication and Content Type
- ref (subject category)
- kon (subject category)
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