Graph-based Multi-Vehicle Overtaking Strategy for Autonomous Vehicles

Hegedűs, T. and Németh, Balázs and Gáspár, Péter (2019) Graph-based Multi-Vehicle Overtaking Strategy for Autonomous Vehicles. In: 9th IFAC International Symposium on Advances in Automotive Control, AAC, 2019, 2019.06.23-2019.06.27, Orléans.

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Abstract

The paper proposes an advanced graph-based optimal solution to overtaking scenarios for autonomous vehicles. The advantage of the method is that it is possible to consider several human-driven vehicles in the environment of autonomous vehicles. There is a probabilitybased approach in the background of the graph-based route selection optimization, with which the motions of the human-driven vehicles are predicted. The result of the method is the road and the velocity profile of the autonomous vehicle, with which emergencies and even collisions can be avoided. The efficiency of the optimization algorithm is illustrated through a simulation scenario.

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