Zahra Ramezani, Davide Gagliardi, Luigi Del Re,
"A risk-constrained and energy efficient stochastic approach for autonomous overtaking"
: 2018 European Control Conference (ECC), Seite(n) 1289 - 1294, 6-2018
Original Titel:
A risk-constrained and energy efficient stochastic approach for autonomous overtaking
Sprache des Titels:
Englisch
Original Buchtitel:
2018 European Control Conference (ECC)
Original Kurzfassung:
In this paper a control approach for safe and
energy efficient autonomous overtaking is presented. The proposed
method combines a stochastic approach based on the
use of safety indicators as the Time headway (TH) and Time
to collision (TTC) as boundary conditions and a cost index
on fuel consumption for the trajectory of an Ego vehicle in a
traffic environment. The approach has been evaluated in two
typical overtaking scenarios: 1) braking of the leading vehicle
and 2) entry of a third vehicle in the gap between the leading
and the ego vehicle. The efficiency of TH and TTC- based
stochastic approach have been compared for the same maximal
risk threshold. Results show that both risk function are suitable
to perform overtaking manoeuvres both with and without an
additive fuel cost. Moreover the TTC?based stochastic approach
shows a reduction of about 5% in fuel consumption with respect
to the TH-based approach for both considered scenarios.