An Intelligent Overtaking Assistant System for Autonomous Vehicles

Ersin Armağan*, Tufan Kumbasar

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

Autonomously overtaking cars is one of the most challenging functionality when developing self-driving vehicles due to its safe crucial nature. This study presents a novel intelligent overtaking assistant based on fuzzy logic and its deployment into TORCS environment. For achieving this goal, the developed intelligent overtaking assistant decides when to overtake, and calculates the desired position and speed values to accomplish the overtaking action by using the relative speed and position information. Thus, to estimate the positions and speed of the other vehicles, we designed and deployed a multi object-tracking algorithm. Intelligent overtaking assistant consists of four fuzzy logic systems that have modular cascade structure. The fuzzy logic based overtaking assistant decides “when to start or end the overtaking action” and “whether speed adjustment is needed or not”, and calculates “the desired lateral position on the road” and “how much speed increase is needed during overtaking action”. The efficiency of the intelligent overtaking assistant is examined in TORCS environment and the presented results clearly demonstrate that its performance is highly efficient in various road structures.

Original languageEnglish
Title of host publicationIntelligent and Fuzzy Techniques
Subtitle of host publicationSmart and Innovative Solutions - Proceedings of the INFUS 2020 Conference
EditorsCengiz Kahraman, Sezi Cevik Onar, Basar Oztaysi, Irem Ucal Sari, Selcuk Cebi, A. Cagri Tolga
PublisherSpringer
Pages1068-1076
Number of pages9
ISBN (Print)9783030511555
DOIs
Publication statusPublished - 2021
EventInternational Conference on Intelligent and Fuzzy Systems, INFUS 2020 - Istanbul, Turkey
Duration: 21 Jul 202023 Jul 2020

Publication series

NameAdvances in Intelligent Systems and Computing
Volume1197 AISC
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365

Conference

ConferenceInternational Conference on Intelligent and Fuzzy Systems, INFUS 2020
Country/TerritoryTurkey
CityIstanbul
Period21/07/2023/07/20

Bibliographical note

Publisher Copyright:
© 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

Keywords

  • Autonomous vehicle
  • Decision making
  • Fuzzy logic
  • Overtaking

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