Autonomous Overtaking Using Reachability Analysisand MPC

Sammanfattning: The era of autonomous cars is on the rise. Asdrivers lose control of the steering wheel, it is crucial that thecars themselves can guarantee safety for all traffic participants.This study aims to design a complete control system that cansafely perform an overtaking maneuver. To guarantee safety ofthe maneuver, reachability calculations will be carried out andanalyzed. The overtaking will be planned by using the modelpredictive control, MPC, framework. To complete the controlsystem a modified proportional controller will be designed totrack the planned path. The control system is implemented inMATLAB and the entire overtaking maneuver is simulated. Theresults show that the designed control framework successfullyperforms the overtaking on a straight two-lane highway in asafe manner.