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Nilsson 和 Sjöberg - 2013 - Strategic decision making for automat
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Strategic decision making for automated driving on two-lane, one wayroads using
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Strategic decision making for automated driving on two-lane, one way
roads using model predictive control
Julia Nilsson
1
and Jonas Sj
¨
oberg
2
Abstract— This paper presents an algorithm for strategic
decision making regarding when lane change and overtake
manoeuvres are desirable and feasible. By considering the
task of driving on two-lane, one-way roads, as the selection
of desired lane and velocity profile, the algorithm provides
useful results in terms of velocity control as well as a decision
variable corresponding to whether a lane change manoeuvre
should be performed. The decision process is modelled through
a mixed logical dynamical system which is solved through model
predictive control using mixed integer program formulation.
The performance of the proposed control system is explored
through simulations of varying driving scenaria on a two-lane,
one-way road, which shows the capability of the system to
achieve appropriate longitudinal and lateral control strategies
depending on the traffic situation.
I. INTRODUCTION
The last decades have witnessed an intense evolution
within the field of intelligent vehicles. Advanced driver
assistance systems (ADAS) such as adaptive cruise control
(ACC), lane keeping aid (LKA), and traffic jam assists
(TJA) for stop and go traffic are (or are soon to be)
commercially available, and many research projects e.g.
the California PATH project [1], Demo 2000 in Japan [2],
the US DARPA challenges [3]-[4] and subsequent projects
[5]-[6], and more recently SARTRE [7], demonstrates the
possibilities of increased automated functionality. This devel-
opment can crudely be deduced to environmental, economic,
safety, and convenience factors, since an increased level of
autonomy has the potential to improve traffic flow, reduce
fuel consumption, and support the driver such that the impact
of human factors can be decreased.
One area where a high level of autonomy is both realizable
and desirable is in two-lane, one-way roads. In this area (i.e.
highways) a substantial percentage of traffic accidents and
fatalities are related to lane change and overtake manoeuvres
[8]. Thus, ADAS or even fully automated systems, for these
types of manoeuvres are of great interest.
An abundant amount of research has been made in terms
of trajectory generation and controller design for longitudinal
and lateral movement for vehicle following and collision
avoidance [9]-[11]. This paper will therefore focus on higher
level, strategic decision making regarding when lane change
and overtake manoeuvres are desirable and feasible, assum-
ing that once a lane change decision has been made, a lower-
level controller will be able to track a pre-computed reference
1
J. Nilsson is with Active Safety and Chassis, Volvo Car Corporation, and
the Department of Signals and Systems, Chalmers University of Technology,
Sweden.
2
J. Sj
¨
oberg is with the Department of Signals and Systems, Chalmers
University of Technology, Sweden.
trajectory for that manoeuvre, alternatively a human driver
can follow the recommendation and perform the lane change.
Methods for strategic decision-making in fully or highly
automated driving systems designed for lane change and
overtake manoeuvres, can roughly be divided into either
rule-based [12]-[13], or utility-based [14]-[16] approaches,
where the more advanced applications also include prob-
abilistic methods to handle uncertainties [17]-[18]. Rule-
based systems have the advantage of traceability and ease
of implementation for specified scenaria but can require a
substantial effort in order to be extended into more com-
plex scenaria. One the other hand, approaches based on
utility functions have the advantage of allowing combined
weighting of multiple criteria and can thus more easily be
extended to complex scenaria. However, a large amount of
different weighting parameters can result in time-consuming
parameter tuning and tractability difficulties.
In this paper, the problem of deriving decisions regarding
appropriate driving manoeuvres i.e. selection of desired lane
and velocity profile, on two-lane, one-way roads, is consid-
ered as a mixed logical dynamical (MLD) system [19] to be
solved through model predictive control (MPC) [20] using
mixed integer program formulation. This approach allows for
propositional logic regarding mandatory lane changes, i.e.
lane changes depending on route and road properties such
as lane ends and lane destinations, and collision avoidance
constraints, to be incorporated with an objective function
to attain the possibility of discretionary lane changes i.e.
lane changes resulting from a desire to improve ones own
driving conditions. Thus, the proposed algorithm combines
the benefits of rule- and utility-based approaches since the
MLD formulation maintains the simplicity of rule-based
systems by allowing logic constraints, and by using MPC
the benefits of utility functions are maintained while less
parameter tuning is required, and evaluation over a prediction
horizon is easily obtained. This is beneficial since in order
to make decisions regarding preferred lane and consequently
whether a lane change or overtake manoeuvre is desired,
current and future states must be taken into consideration.
The proposed control system will at each time instance
provide acceleration/deceleration request as well as a de-
cision variable corresponding to whether a lane change
manoeuvre should be initiated, all in purpose of allowing the
ego vehicle to retain desired velocity (v
des
), while avoiding
collisions with other vehicles; allowing smooth and efficient
transportation. The algorithm can be considered as either a
compliment to ADAS or as a step towards highly automated
driving where the vehicle makes intelligent decisions and
2013 IEEE Intelligent Vehicles Symposium (IV)
June 23-26, 2013, Gold Coast, Australia
978-1-4673-2754-1/13/$31.00 ©2013 IEEE 1253
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