Hegedus, Tamas (Budapest University of Technology and Economics), Nemeth, Balazs (MTA SZTAKI), Gaspar, Peter (MTA SZTAKI)

Graph-Based Multi-Vehicle Overtaking Strategy for Autonomous Vehicles

Scheduled for presentation during the Regular Session "Guidance and Collision Avoidance" (WeAT1), Wednesday, June 26, 2019, 11:30−11:50, Chambord

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on April 20, 2024

Abstract

The paper proposes an advanced graph-based optimal solution to overtaking scenarios for autonomous vehicles. The advantage of the method is that it is possible to consider several human-driven vehicles in the environment of autonomous vehicles. There is a probability-based approach in the background of the graph-based route selection optimization, with which the motions of the human-driven vehicles are predicted. The result of the method is the road and the velocity profile of the autonomous vehicle, with which emergencies and even collisions can be avoided. The efficiency of the optimization algorithm is illustrated through a simulation scenario.