A model predictive-based approach for longitudinal control in autonomous driving with lateral interruptions

Kai Liu, Jianwei Gong, Arda Kurt, Huiyan Chen, Umit Ozguner

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Abstract

The longitudinal control of an autonomous vehicle usually suffers from lateral interruptions, such as the cutting in/out of the lead vehicle, deteriorating its performance and even endangering driving safety. To address this problem, we present a model predictive-based approach for longitudinal control in autonomous driving by taking the lateral interruptions into account. First, a virtual lead vehicle scheme is introduced to predict the future behavior of the actual lead vehicle. By following the virtual lead vehicle rather than the actual lead vehicle, the control of the host vehicle is simplified to keep a proper following gap problem. Then, a strategic car-following gap (CFG) model, generated from highway naturalistic driving data, is employed to describe the safety hazard and the probability of cut-ins by other vehicles. A model predictive controller, incorporating the strategic CFG model as well as the acceleration and jerk limitations in the objective function, is designed for the longitudinal control of the host vehicle. Solving the optimal control problem can not only smooth the oscillation and overshoots caused by the lateral interruptions but also reduce the probability of cut-ins from the adjacent lanes. The proposed approach is simulated and validated through some predefined test scenarios in CarSim software.

Original languageEnglish
Title of host publicationIV 2017 - 28th IEEE Intelligent Vehicles Symposium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages359-364
Number of pages6
ISBN (Electronic)9781509048045
DOIs
Publication statusPublished - 28 Jul 2017
Event28th IEEE Intelligent Vehicles Symposium, IV 2017 - Redondo Beach, United States
Duration: 11 Jun 201714 Jun 2017

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference28th IEEE Intelligent Vehicles Symposium, IV 2017
Country/TerritoryUnited States
CityRedondo Beach
Period11/06/1714/06/17

Keywords

  • Autonomous driving
  • Model predictive control
  • Strategic car-following gap model
  • Virtual lead vehicle

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Liu, K., Gong, J., Kurt, A., Chen, H., & Ozguner, U. (2017). A model predictive-based approach for longitudinal control in autonomous driving with lateral interruptions. In IV 2017 - 28th IEEE Intelligent Vehicles Symposium (pp. 359-364). Article 7995745 (IEEE Intelligent Vehicles Symposium, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.2017.7995745