Development of Automatic Overtaking between Vehicles Using Model Predictive Control

  • Xi Chen
  • Harutoshi Ogai
Conference paper


In the past few years, there has been a variety of research on the automatic driving system. However, research on overtaking between vehicles, especially implementation for the real condition seems to be somewhat neglected. In this study, an overtaking method using the model predictive control (MPC) has been introduced. A combination of continuation and generalized minimum residual method has been presented to optimize the system which is required to keep the minimal safe distance and choose the best time to make overtaking action. Also, the performance of the control system is verified by experiment using robot cars.


Carbon Capture Model Predictive Control Recede Horizon Control Nonlinear Model Predictive Control Minimum Residual Method 
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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.Graduate School of Information, Production and SystemsWaseda UniversityKitakyushuJapan

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