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

1R. Bishop, “Intelligent Vehicle Technology and Trends,” Chapter 10, Norwood, MA: Artech House, 2005.Search in Google Scholar

2J. Michon, Human Behavior and Traffic Safety. New York: Plenum Press, 1985.Search in Google Scholar

3S. Y. Chang, and J.C. Gerdes, “Differential Geometric Structures in Vehicle Lane Keeping and Roll Mitigation,” Proceedings of the American Control Conference, Portland, OR, June 2005, pp. 441-446.Search in Google Scholar

4M. Tsogas, A. Polychronopoulos, and A. Amditis, “Using Digital Maps to Enhance Lane Keeping Support Systems,” Proceedings of the IEEE Intelligent Vehicles Symposium, Istanbul, Turkey, June 2007, pp.148-15310.1109/IVS.2007.4290106Search in Google Scholar

5W.P. Zhang, and T. West, “An Intelligent Roadway Reference System for Vehicle Lateral Guidance/Control,” Proceedings of the American Control Conference, San Diego, CA, May 1990, pp. 281-286.10.23919/ACC.1990.4790741Search in Google Scholar

6H. Peng, and M. Tomizuka, “Preview Control for Vehicle Lateral Guidance in Highway Automation,” Proceedings of the American Control Conference, Boston, MA, June 1991, pp. 3090-3095.10.23919/ACC.1991.4791977Search in Google Scholar

7T. Hessburg, H. Peng, W. Zhang, M. Tomizuka and E. Kamei, “An Experimental Study on Lateral Control of a Vehicle,” Proceedings of the American Control Conference, Boston, MA, June 1991, pp. 3084-3089.10.23919/ACC.1991.4791976Search in Google Scholar

8H. Peng, T. M. Hessburg, M. Tomizuka, W. Zhang, Y. Lin, P. Devlin, S. Shladover, and A. Arai, “A Theoretical and Experimental Study on Vehicle Lateral Control,” Proceedings of the American Control Conference, Chicago, IL, June 1992, pp. 1738-1742.10.23919/ACC.1992.4792408Search in Google Scholar

9J. Ackermann, and W. Sienel, “Robust Control for Automatic Steering,” Proceedings of the American Control Conference, San Diego, CA, May 1990, pp. 795-800.10.23919/ACC.1990.4790841Search in Google Scholar

10J. Ackermann, and W. Sienel, “Automatic Steering of Vehicles with Reference Angular Velocity Feedback,” Proceedings of the American Control Conference, Baltimore, MD, June 1994, pp. 1957-1958.Search in Google Scholar

11J. Guldner, V.I. Utkin, and J. Ackermann, “A Sliding Mode Control Approach to Automatic Car Steering,” Proceedings of the American Control Conference, Baltimore, MD, June 1994, pp. 1969-1973.Search in Google Scholar

12M. M. M. Brackstone, “Car-Following: A Historical Review,” Journal of Transportation Research, Vol. 2, 1990, pp. 181-1969.10.1016/S1369-8478(00)00005-XSearch in Google Scholar

13T. Hsiao and M. Tomizuka, “Design of Position Feedback Controllers for Vehicle Lateral Motion,” Proceedings of the American Control Conference, Minneapolis, MN, June 2006, pp. 5855-5860.Search in Google Scholar

14T. Srinivasan, J.B. Siddharth, and A. Chandrasekhar, “Sentient Autonomous Vehicle Using Advanced Neural Net Technology”, Proceedings of the IEEE Conference on Cybernetics and Intelligent Systems, Singapore, Dec. 2004, pp. 827-832.10.1109/ICCIS.2004.1460695Search in Google Scholar

15S. Jamison and M. McCartney, “A Vehicle Overtaking Model of Traffic Dynamics,” CHAOS : An Interdisciplinary Journal of Nonlinear Science, Vol. 17, Issue 3, Sep. 2007, pp. 1-7.10.1063/1.275296917902998Search in Google Scholar

16W. Chee, and M. Tomizuka, “Lane Change Manoeuvres for AHS Applications,” Proceedings of the International Symposium on Advanced Vehicle Control, Tsukuha, Japan, Oct. 1994, pp. 420-425.Search in Google Scholar

17J. Frankel, L. Alvarez, R. Horowitz, and P. Li, “Safety Oriented Manoeuvres for IVHS,” Proceedings of the American Control Conference, Seattle, WA, June 1995, pp. 668-672.Search in Google Scholar

18H. Jula, E. Kosmaropoulos, and P. Ioannou, “Collision Avoidance Analysis for Lane Changing and Merging,” IEEE Trans. On Vehicular Technology, Vol. 49, No. 6, 2000, pp. 2295-2308.10.1109/25.901899Search in Google Scholar

19J. Lygeros, and D. Godbole, “An Interface Between Continuous & Discrete-Event Controllers for Vehicle Automation,” IEEE Trans. On Vehicular Technology, Vol. 46, No. 1, 1997, pp. 229-241.10.1109/25.554756Search in Google Scholar

20Jochem, T., Pomerleau, D., and Thorpe, C., “Vision Guided Lane Transition,” Proceedings of the Intelligent Vehicles Symposium, Detroit, MI, Sep. 1995, pp. 30-35.Search in Google Scholar

21Jochem, Todd M. “Using Virtual Active Vision Tools to Improve Autonomous Driving Tasks,” CMU Technical Report CMU-RI-TR-94-39, October 1994Search in Google Scholar

22Z. Shiller, and S. Sundar,”Emergency Manoeuvres of AHS Vehicles,” SAE Transactions, Journal of Passenger Cars, Vol. 104, 1995, pp. 2633-2643.10.4271/951893Search in Google Scholar

23Z. Shiller, and S. Sundar, “Emergency Lane-Change Manoeuvres of Autonomous Vehicles,” ASME Journal of Dynamic Systems, Measurement and Control, Vol. 120, No. 1, March 1998, pp. 36-34.10.1115/1.2801319Search in Google Scholar

24N. Sledge, and K. Marshek, “Comparison of Ideal Vehicle Lane-Change Trajectories,” SAE Transactions, Research into Vehicle Dynamics and Simulation, Vol. 62, 1997, pp. 233-256.10.4271/971062Search in Google Scholar

25N. Sledge and K. Marshek, “Development and Validation of an Optimized Emergency Lane-Change Trajectory,” SAE Transactions, Research into Vehicle Dynamics and Simulation, Vol. 31, Aug. 1998, pp. 103-121.10.4271/980231Search in Google Scholar

26T. Shamir, “How Should an Autonomous Vehicle Overtake a Slower Moving Vehicle: Design and Analysis of an Optimal Trajectory,” IEEE Trans. On Automatic Control, Vol. 49, No. 4, April 2004, pp. 607-610.10.1109/TAC.2004.825632Search in Google Scholar

27N. Montes, M.C. Mora, and J. Tornero, “Trajectory Generation Based on Rational Bézier Curves as Clothoids,” Proceedings of the IEEE Intelligent Vehicles Symposium, Istanbul, Turkey, June 2007, pp. 505-510.10.1109/IVS.2007.4290165Search in Google Scholar

28F. Jinxiang, R. Jiuhong, and L. Yibin, “Study on Intelligent Vehicle Lane Change Path Planning and Control Simulation,” Proceedings of the IEEE International Conference on Information Acquisition, Weihai, China, August 2006, pp. 683-688.Search in Google Scholar

29T.Q. Tang, H.J. Huang, S.C. Wong, and X.Y. Xua, “A New Overtaking Model and Numerical Tests,” Physica A: Statistical Mechanics and its Applications,Vol. 376, March 2007, pp.649-657.10.1016/j.physa.2006.10.044Search in Google Scholar

30J.Y. Huang, H-X. Pan, X-W. Yang, J-D. Li, “Fuzzy Controller Design of Autonomy Overtaking System,” Proceedings of the International Conference on Intelligent Engineering Systems,Miami, FL, Februrary 2008, pp. 281-285.Search in Google Scholar

31F. Wang, N. Ma and H. Inooka, “A Driver Assistant System for Improvement of Passenger Ride Comfort Through Modification of Driving Behaviour,” Proceedings of the International Conference on Advanced Driver Assistance Systems, Vol. 483, Birmingham, UK, Sep. 2001, pp. 38-42.10.1049/cp:20010494Search in Google Scholar

32W. Caywood, H. Donnely, and N. Rubinstein, “Guideline for Ride-Quality Specifications Based on Transpo ‘72 Test Data,” Applied Physics Laboratory, John Hopkins University. Washington 1977.Search in Google Scholar

33M.R. Koopman, and L.J.J. Kusters, “The Development of a Path Planning Strategy for Obstacle Avoidance and Crash Impact Minimisation for an Automatic Guided Vehicle,” Advanced Chassis and Transport Systems, Netherlands, June 2003.Search in Google Scholar

34Z. Shiller, and S. Sundar, “Emergency Lane-Change Manoeuvres of Autonomous Vehicles,” ASME Transactions on Dynamic Systems, Measurement and Control, Vol. 120, No. 1, March 1998, pp. 37-44.10.1115/1.2801319Search in Google Scholar

35A. Kanaris, E.B. Kosmatopoulos, and P.A. Ioannou, “Strategies and Spacing Requirements for Lane Changing and Merging in Automated Highway Systems,” IEEE Transactions on Vehicle Technology, Vol. 50, No. 6, Nov. 2001, pp. 1568-1581.10.1109/25.966586Search in Google Scholar

36N.A. Shneydor, Missile Guidance and Pursuit, Chichester, England: Horwood Publishing, 1998.10.1533/9781782420590Search in Google Scholar

37M. Mehrandezh, M.N. Sela, R. G. Fenton, and B. Benhabib, “Robotic Interception of Moving Objects Using an Augmented Ideal Proportional Navigation Guidance Technique,” IEEE Transactions on Systems, Man and Cybernetics, Vol. 30, No. 1, 2000, pp. 238-250.10.1109/3468.844351Search in Google Scholar

38F. Agah, M. Mehrandezh, R.G. Fenton, and B. Benhabib, “Rendezvous-Guidance Based Robotic Interception,” Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Las Vegas, NV, Oct. 2003, pp. 2998-3003.Search in Google Scholar

39W. Naeem, R.Sutton “A Review to Guidance Laws Applicable to Unmanned Underwater Vehicles,” Journal of Navigation, Vol. 5, No. 6, 2003, pp. 15-29.10.1017/S0373463302002138Search in Google Scholar

40B. Ajith Kumar and D. Ghose “A Proportional Navigation Based Collision Avoidance/ Guidance Strategy for Low-Altitude Flight,” Proceedings of the 3rd Asian Control Conference, Shanghai, China, July 2000, pp. 171-176.Search in Google Scholar

41H.L. Pastrick, S.M. Seltzer, and M.E. Warren, “Guidance Laws for Short-Range Tactical Missiles,” Journal of Guidance, Control and Dynamics, Vol. 4, No. 2, 1981, pp. 98-108.10.2514/3.56060Search in Google Scholar

42G.M. Anderson, “Comparison of Optimal Control and Differential Game Intercept Missile Guidance Law,” AIAA Journal of Guidance and Control, Vol. 4, No. 2, March 1981, pp. 109-115.10.2514/3.56061Search in Google Scholar

43D. Ghose, “True Proportional Navigation with Manoeuvring Target,” IEEE Transactions on Aerospace and Electronic Systems, Vol. 1, No. 30, January 1994, pp. 229-237.10.1109/7.250423Search in Google Scholar

44T. J. Speyer, K. Kim, and M. Tahk, “Passive Homing Missile Guidance Law Based on New Target Manoeuvre Models,” Journal of Guidance, Vol. 1, No. 13, September 1990, pp. 803-812.10.2514/3.25405Search in Google Scholar

45C. D. Yang, and C.C. Yang, “A Unified Approach to Proportional Navigation,” IEEE Transactions on Aerospace and Electronic Systems, Vol. 33, No. 2, 1997, pp. 557-567.10.1109/7.575895Search in Google Scholar

46P. J. Yuan, and S. C. Hsu, “Rendezvous Guidance with Proportional Navigation,” Journal of Guidance, Control, and Dynamics, Vol. 17, No. 2, 1993, pp. 409-411.10.2514/3.21213Search in Google Scholar

47M. Guelman, “Guidance for Asteroid Rendezvous,” Journal of Guidance, Control, and Dynamics, Vol. 14, No. 5, 1990, pp. 1080-1083.10.2514/3.20759Search in Google Scholar

48D.L. Jensen, “Kinematics of Rendezvous Manoeuvres,” Journal of Guidance, Vol. 7, No. 3, 1984, pp. 307-314.10.2514/3.19860Search in Google Scholar

49F. Kunwar, F. Wong, R. Ben Mrad, and B. Benhabib, “Rendezvous Guidance for the Autonomous Interception of Moving Objects in Cluttered Environments,” Proceedings of the IEEE International Conference of Robotics and Automation, Barcelona, Spain, April 2005, pp. 3787-3792.Search in Google Scholar

50F. Kunwar, and B. Benhabib, “Motion Planning for Autonomous Rendezous with Vehicle Convoys” Proceedings of the IEEE Intelligent Transportation Systems Conference, Toronto, Canada, Sep. 2006, pp. 1568-1573.10.1109/ITSC.2006.1707447Search in Google Scholar