Autonomous overtaking maneuver design based on follow the gap method

Munire Damla Demir, Volkan Sezer

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

4 Atıf (Scopus)

Özet

This paper proposes a solution for one of the most important components of autonomous driving: "overtaking maneuver". Follow the Gap method (FGM) is one of the most popular obstacle avoidance algorithms and directly obtains steering angle from position of the obstacles around. This paper is the first study using FGM to solve the overtaking problem. Different from previous studies where a trajectory is planned and then a controller is designed to track it; we use FGM for motion planning and control together. This paper focuses on overtaking maneuver in a challenging environment like highway traffic where the safety and fast response are the key factors. After we adapt the FGM to overtaking problem, we compare it with an existing overtaking method X-sin functions from literature. Since X-sin functions method requires a path tracker (controller), Stanley method is combined with X-sin functions. At the end of this work, we show several advantages of FGM comparing to the X-sin functions based overtaking approach.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığıICINCO 2019 - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics
EditörlerOleg Gusikhin, Kurosh Madani, Janan Zaytoon
YayınlayanSciTePress
Sayfalar295-302
Sayfa sayısı8
ISBN (Elektronik)9789897583803
DOI'lar
Yayın durumuYayınlandı - 2019
Etkinlik16th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2019 - Prague, Czech Republic
Süre: 29 Tem 201931 Tem 2019

Yayın serisi

AdıICINCO 2019 - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics
Hacim1

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???event.eventtypes.event.conference???16th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2019
Ülke/BölgeCzech Republic
ŞehirPrague
Periyot29/07/1931/07/19

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Publisher Copyright:
Copyright © 2019 by SCITEPRESS - Science and Technology Publications, Lda. All rights reserved.

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