Abstract: |
In the past few years there is much research on various aspects of control of autonomous vehicles. However, it seems that the problem of overtaking a slower-moving vehicle has been somewhat neglected. This paper deals with the three-phase overtaking maneuver and with designing a smooth and ergonomic optimal lane-change trajectory on a straight road. It is shown that the absolute shape, size and time of the first-phase trajectory do not depend on the velocity of the leading, slower-moving vehicle. Only the absolute point for initiating the diversion is affected. The relatively simple mathematical model for each lane-change trajectory is based on minimizing the total kinetic energy during the maneuver, superimposed on a “minimum-jerk trajectory”. For high enough initial velocities, (above 5 m/s) explicit formulas are obtained for the optimal distance and the optimal time of the maneuver. By using the results of the suggested model, an autonomous vehicle, equipped with appropriate sensors, can estimate the best time and place to begin and end the overtaking and its total time and distance. This may help to make a decision whether to overtake or not. |
ICSC
