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- W3011597188 abstract "This paper proposes a solution to the overtaking problem where an automated vehicle tries to overtake a human-driven vehicle, which may not be moving at a constant velocity. Using reachability theory, we first provide a robust time-optimal control algorithm to guarantee that there is no collision throughout the overtaking process. Following the robust formulation, we provide a stochastic reachability formulation that allows a trade-off between the conservative overtaking time and the allowance of a small collision probability. To capture the stochasticity of a human driver’s behavior, we propose a new martingale-based model where we classify the human driver as aggressive or nonaggressive. We show that if the human driver is nonaggressive, our stochastic time-optimal control algorithm can provide a shorter overtaking time than our robust algorithm, whereas if the human driver is aggressive, the stochastic algorithm will act on a collision probability of zero, which will match the robust algorithm. Finally, we detail a simulated example that illustrates the effectiveness of the proposed algorithms." @default.
- W3011597188 created "2020-03-23" @default.
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- W3011597188 date "2019-12-01" @default.
- W3011597188 modified "2023-09-30" @default.
- W3011597188 title "Stochastic Modeling and Optimal Control for Automated Overtaking" @default.
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- W3011597188 doi "https://doi.org/10.1109/cdc40024.2019.9029505" @default.
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