Motion Planning of Autonomous Vehicles on a Dual Carriageway without Speed Lanes

Rahul Kala; Kevin Warwick

doi:10.3390/electronics4010059

Motion Planning of Autonomous Vehicles on a Dual Carriageway without Speed Lanes

Rahul Kala, Kevin Warwick

Vice-Chancellor's Office

Research output: Contribution to journal › Article

4 Citations (Scopus)

12 Downloads (Pure)

Abstract

The problem of motion planning of an autonomous vehicle amidst other vehicles on a straight road is considered. Traffic in a number of countries is unorganized, where the vehicles do not move within predefined speed lanes. In this paper, we formulate a mechanism wherein an autonomous vehicle may travel on the “wrong” side in order to overtake a vehicle. Challenges include assessing a possible overtaking opportunity, cooperating with other vehicles, partial driving on the “wrong” side of the road and safely going to and returning from the “wrong” side. The experimental results presented show vehicles cooperating to accomplish overtaking manoeuvres.

Original language	English
Pages (from-to)	59-81
Journal	Electronics
Volume	4
Issue number	1
DOIs	https://doi.org/10.3390/electronics4010059
Publication status	Published - Jan 2015

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Creative Commons Attribution License

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abstract = "The problem of motion planning of an autonomous vehicle amidst other vehicles on a straight road is considered. Traffic in a number of countries is unorganized, where the vehicles do not move within predefined speed lanes. In this paper, we formulate a mechanism wherein an autonomous vehicle may travel on the “wrong” side in order to overtake a vehicle. Challenges include assessing a possible overtaking opportunity, cooperating with other vehicles, partial driving on the “wrong” side of the road and safely going to and returning from the “wrong” side. The experimental results presented show vehicles cooperating to accomplish overtaking manoeuvres. ",

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