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Stochastic Control Formulation of The Car Overtake Problem
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-9940-5929
2018 (English)In: IFAC PAPERSONLINE, ISSN 2405-8963, Vol. 51, no 9, p. 124-129Article in journal (Refereed) Published
Abstract [en]

In this paper, we consider the classic car overtake problem. There are three cars, two moving along the same direction in the same lane while the third car moves in the direction opposite to that of the first two cars in the adjacent lane. The objective of the trailing car is to overtake the car in front of it avoiding collision with the other cars in the scenario. The information available to the trailing car is the relative position, relative velocities with respect to other cars and its position and past actions. The relative position and relative velocity information is corrupted by noise. Given this information, the car needs to make a decision as to whether it wants to overtake or not. We present a control algorithm for the car which minimizes the probability of collision with both the cars. We also present the results obtained by simulating the above scenario with the control algorithm. Through simulations, we study the effect of the variance of the measurement noise and the time at which the decision is made on the probability of collision.

Place, publisher, year, edition, pages
Elsevier, 2018. Vol. 51, no 9, p. 124-129
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-232928DOI: 10.1016/j.ifacol.2018.07.021ISI: 000439162300022Scopus ID: 2-s2.0-85050077324OAI: oai:DiVA.org:kth-232928DiVA, id: diva2:1237141
Conference
15th International-Federation-of-Automatic-Control (IFAC) Symposium on Control in Transportation Systems (CTS), JUN 06-08, 2018, ITALY
Note

QC 20180807

Available from: 2018-08-07 Created: 2018-08-07 Last updated: 2018-08-07Bibliographically approved

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Wei, JieqiangJohansson, Karl H.

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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