An Autonomous Overtaking Control Strategy Based On Driving Behavior Analysis

In recent years,with the rapid development of the sensing and computation techniques,the intelligent driving technology has attracted tremendous attention from both academic and industrial areas.Intelligent driving system has developped many functions such as lane keeping,emergency avoidance and driving assistance.These functions rely on modern technologies,including environment perception,intelligent decision-making and control execution.The emergence of intelligent driving system not only reduces the frequency of traffic accidents due to human factors such as fatigue driving and drunk driving,but also makes it possible to liberate our hands to achieve true unmanned driving.Overtaking is a typical operation in everyday driving.And it is also one of the technical difficulties in intelligent driving.According to reports,there were 14 minor collisions during the 3.2 million km test run on Google’s driver-less cars,of which 9 were caused by improper overtaking operations.In the process of overtaking,the overtaken vehicle may occur unstable driving behaviors such as shaking,detouring and shuttling.These abnormal driving behaviors will have a great impact on the overtaking strategy of the following vehicle.If the following vehicle can’t accurately get the state of the overtaken vehicle in time as to make a wrong decision,an accident may happen between the two vehicles.This paper starts with the state estimation and tracking of the overtaken vehicle.Then we analyze the driving characteristics of the overtaken vehicle and establish the optimal overtaking model of the following vehicle.Specific research includes the following aspects:Based on Federal Kalman Filter(FKF),this paper combines satellite positioning system,roadside unit aided positioning system and inertial navigation system to achieve accurate estimation and tracking of the overtaken vehicle.According to the outputs of FKF,a fuzzy inference system(FIS),which is suitable for the overtaking scene,is established in this paper.FIS can analyse the driving characteristic of the overtaken vehicle and detect the abnormal driving behavior of it.In this paper,the angular velocity and lateral offset of FKF outputs are taken as the inputs of FIS.We design the membership function and fuzzy rule base which are suitable for overtaking scene in order to get a quantitative output of the dangerous index.And the driving status of the overtaken vehicle is divided into two states of normal and abnormal,which simplifies the overtaking operation of the following vehicle.This paper proposes the optimal vehicle overtaking strategy based on the theory of optimal control model according to the analysis of the driving characteristics of the overtaken vehicle.By designing optimization goals respectively,we establish the optimal strategy of overtaking with high safety and high timeliness.In order to solve the problem of incorrect FIS judgment caused by FKF positioning error,a robust control strategy is proposed.Through a series of simulation experiments,we verify that the optimal overtaking model proposed in this project can achieve the compromise optimal of safety,efficiency and low consumption.