Autonomous overtaking in highways: A receding horizon trajectory generator with embedded safety feature

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dc.authoridCoskun, Serdar/0000-0002-7080-0340
dc.contributor.authorCoskun, Serdar
dc.date.accessioned2025-03-17T12:27:04Z
dc.date.available2025-03-17T12:27:04Z
dc.date.issued2021
dc.departmentTarsus Üniversitesi
dc.description.abstractA primary task in autonomous driving is to design a control algorithm that presents an effective and yet human-compatible behavior. To this aim, present paper considers the problem of autonomous overtaking under both state and environment constraints with dynamic surrounding vehicles. The solution is formulated based on quadratic programming optimization and is solved in receding horizon fashion. The proposed method evaluates the traffic condition online and executes a safe trajectory of an overtaking maneuver with on-coming traffic. To better incorporate traffic participants' behaviors, a dynamic predictive model-based reachability analysis of the surrounding vehicles is utilized in the design. Reachable sets aim to ensure the drivability of the planned motions, as well as producing drivable collision-free trajectories. To this end, forward reachable sets are employed by predicting traffic vehicles' future actual and worst-case behaviors in the design, in which the autonomous vehicle determines its trajectory accordingly. A simulation scenario is tested via MATLAB/Simulink for autonomous overtaking and the effectiveness of the proposed method is shown, demonstrating the potential utility of the present approach for implementation as an advanced driver assistance system (ADAS) in next-generation vehicles. (C) 2021 Karabuk University. Publishing services by Elsevier B.V.
dc.identifier.doi10.1016/j.jestch.2021.02.005
dc.identifier.endpage1058
dc.identifier.issn2215-0986
dc.identifier.issue5
dc.identifier.scopus2-s2.0-85103979116
dc.identifier.scopusqualityN/A
dc.identifier.startpage1049
dc.identifier.urihttps://doi.org/10.1016/j.jestch.2021.02.005
dc.identifier.urihttps://hdl.handle.net/20.500.13099/2053
dc.identifier.volume24
dc.identifier.wosWOS:000672103600001
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorCoskun, Serdar
dc.language.isoen
dc.publisherElsevier - Division Reed Elsevier India Pvt Ltd
dc.relation.ispartofEngineering Science and Technology-An International Journal-Jestech
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_WOS_20250316
dc.subjectAutonomous overtaking
dc.subjectQuadratic programming
dc.subjectModel predictive control
dc.subjectReachable sets
dc.titleAutonomous overtaking in highways: A receding horizon trajectory generator with embedded safety feature
dc.typeArticle

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