Journal Article

A novel approach of overtaking maneuvering using modified RG method

Tiwana, Mohsin Islam, Khalil, Ihsan Ullah, Ghumman, Usman, Jabbar, Hamid, Kunwar, Faraz

2022

Overview

Intelligent and safe overtaking maneuvering is always a challenging task for autonomous vehicles. This paper proposes and experimentally implements a novel approach of overtaking maneuvering using modified form of Rendezvous Guidance (RG) algorithm for trajectory planning and obstacle avoidance, considering driver safety and comfort during autonomous overtaking. The simulations for all possible scenarios are conducted to ensure the effectiveness of proposed modified RG algorithm. These scenarios involved presence and absence of obstacle vehicle in overtaking lane alongside leading vehicle in driving lane. In addition, the enhanced performance of modified RG algorithm is established over conventional RG algorithm by comparative analysis. The results indicate that overtaking maneuvering period could be decreased by 10% using a modified RG algorithm and vehicle will cover less distance to complete overtaking. The efficacy of proposed method is justified by performing experiments using mobile robots. The experimental results and simulation results of modified RG algorithm are compared, and their plots are almost identical.

• Publisher: Public Library of Science,Public Library of Science (PLoS)
• Subject: Algorithms / Automation / Automobile Driving / Autonomous vehicles / Biology and Life Sciences / Comparative analysis / Computer Simulation / Computer-generated environments / Decision making / Driverless cars / Engineering / Engineering and Technology / Humans / Mathematical functions / Methods / Motor vehicle driving / Obstacle avoidance / Optimization / Physical Sciences / Rendezvous guidance / Rendezvous trajectories / Research and Analysis Methods / Robotics / Robotics - methods / Sensors / Social Sciences / Survival analysis / Technology application / Trajectory planning / Vehicle safety / Velocity