TY  - INPR
UR  - https://ieeexplore.ieee.org/Xplore/home.jsp
PB  - Institute of Electrical and Electronics Engineers (IEEE)
ID  - discovery10189766
N2  - This work proposes a robust control strategy for an autonomous vehicle to overtake safely and comfortably a human-driven vehicle. The proposed scheme designs a collisionavoidance constraint setup that comprehensively coordinates dimension-based and velocity-dependent constraints to fulfil the safety criteria. A three-phase control framework is proposed for the overtaking task, subject to separate collision-avoidance constraints in lane changing, passing, and merging phases. Moreover, the proposed method utilises a Stackelberg game model to interactively involve the human-driven overtaken vehicle behaviours in the online optimisation loop. To further cope with uncertainties caused by the human driver, the optimisation is solved by a robust model predictive controller to guarantee the avoidance of collisions. Numerical case studies verify that the proposed framework is capable of overtaking not only a cooperative human-driven vehicle but also an uncooperative human-driven vehicle with safe and comfortable trajectories.
A1  - Yu, Sheng
A1  - Chen, Boli
A1  - Jaimoukha, Imad M
A1  - Evangelou, Simos A
Y1  - 2024/07/01/
AV  - public
TI  - Game-Theoretic Model Predictive Control for Safety-Assured Autonomous Vehicle Overtaking in Mixed-Autonomy Environment
N1  - This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions.
ER  -