Modeling and Nonlinear Adaptive Control for Autonomous Vehicle Overtaking

Abstract

In this paper, we present a nonlinear adaptive controller for a two-vehicle automated overtaking maneuver. We consider the problem of an autonomous three-phase overtaking without the use of any roadway marking scheme or inter-vehicle communication. The developed feedback controller requires information for the current relative intervehicle position and orientation available from onboard sensors only. We apply standard robotic nomenclature for translational and rotational displacements and velocities and propose a general kinematic model of the vehicles during the overtaking maneuver including for the relative inter-vehicle kinematics. The overtaking maneuver is investigated as a tracking problem with respect to desired polynomial virtual trajectories for every phase, which are generated in real time. An update control law for the automated overtaking vehicle is designed that allows tracking the desired trajectories in the presence of unknown velocity of the overtaken vehicle. Simulation results illustrate the performance of the proposed controller.

A Survey of Autonomous Driving: Common Practices and Emerging Technologies

“…The resultant trajectory is smooth, however, the computational load is usually higher compared to other methods. There are various curve families that are used commonly such as clothoids [255], polynomials [256], Bezier curves [257] and splines [100].…”

Trajectory control for autonomous electric vehicles with in‐wheel motors based on a dynamics model approach

“…Petrov and Nashashibi [1] proposed the kinematic modelling and adaptive control of the overtaking vehicle and overtaken vehicle. In this study, however, only vehicle kinematic model is included and the dynamics model is not considered.…”

“…It is a composition of two consecutive manoeuvres: lane change followed by a specific path parallel to the overtaken vehicle, and again, a lane change to the position in front of the overtaken vehicle. Petrov and Nashashibi [1] suggested a mathematical model and adaptive controller to control the autonomous vehicle in this scenario. This mathematical model was composed of a general kinematic model for the overtaking vehicle and the relative intervehicle kinematics model during the overtaking manoeuvre.…”

Motion Planning of Autonomous Vehicles on a Dual Carriageway without Speed Lanes

“…Similarly, Jin-ying et al [19] performed a fuzzy modelling of the overtaking procedure and defined separate fuzzy membership functions for each of the stages, based on which, a fuzzy inference was done for motion control. Petrov and Nashashibi [20] designed an adaptive controller to perform the different stages of overtaking.…”