<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In the context of intelligent transportation, this paper presents a novel on-line trajectorygeneration method for autonomous lane changing. The proposed scheme is guidance based, realtime applicable, and ensures safety and passenger ride comfort. Based on the principles of <italic>Rendezvous Guidance</italic>, the passing vehicle is guided in real-time to match the position and velocity of a <italic>shadow</italic> target (i.e., rendezvous with) during the overtaking manoeuvre. The shadow target’s position and velocity are generated based on real-time sensory information gathered about the slower vehicle ahead of the passing vehicle as well as other vehicles which may be travelling in the passing lane. Namely, the guidance principle is also used to prevent any potential collision with these <italic>obstacle</italic> vehicles. The proposed method can be used as a fully autonomous system or simply as a driver-assistance tool. Extensive simulations and experiments, some of which are presented herein, clearly demonstrate the tangible efficiency of the proposed method.</p></abstract>

In the context of intelligent transportation, this paper presents a novel on-line trajectorygeneration method for autonomous lane changing. The proposed scheme is guidance based, realtime applicable, and ensures safety and passenger ride comfort. Based on the principles of Rendezvous Guidance, the passing vehicle is guided in real-time to match the position and velocity of a shadow target (i.e., rendezvous with) during the overtaking manoeuvre. The shadow target’s position and velocity are generated based on real-time sensory information gathered about the slower vehicle ahead of the passing vehicle as well as other vehicles which may be travelling in the passing lane. Namely, the guidance principle is also used to prevent any potential collision with these obstacle vehicles. The proposed method can be used as a fully autonomous system or simply as a driver-assistance tool. Extensive simulations and experiments, some of which are presented herein, clearly demonstrate the tangible efficiency of the proposed method.

Guidance-Based On-Line Motion Planning For Autonomous Highway Overtaking

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Guidance-Based On-Line Motion Planning For Autonomous Highway Overtaking"}

In the context of intelligent transportation, this paper presents a novel on-line trajectorygeneration method for autonomous lane changing. The proposed scheme...

Guidance-Based On-Line Motion Planning For Autonomous Highway Overtaking

Published Online: Dec 13, 2017

Page range: 549 - 571

DOI: https://doi.org/10.21307/ijssis-2017-307

Keywords
Intelligent Transportation, Autonomous Vehicle Overtaking, Collision Avoidance

© 2008 Usman Ghumman et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Guidance-Based On-Line Motion Planning For Autonomous Highway Overtaking

Published Online: Dec 13, 2017

Page range: 549 - 571

DOI: https://doi.org/10.21307/ijssis-2017-307

KeywordsIntelligent Transportation, Autonomous Vehicle Overtaking, Collision Avoidance

© 2008 Usman Ghumman et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
Intelligent Transportation, Autonomous Vehicle Overtaking, Collision Avoidance