Strategic decision making for automated driving on two-lane, one way roads using model predictive control

This paper presents an algorithm for strategic decision making regarding when lane change and overtake manoeuvres are desirable and feasible. By considering the task of driving on two-lane, one-way roads, as the selection of desired lane and velocity profile, the algorithm provides useful results in terms of velocity control as well as a decision variable corresponding to whether a lane change manoeuvre should be performed. The decision process is modelled through a mixed logical dynamical system which is solved through model predictive control using mixed integer program formulation. The performance of the proposed control system is explored through simulations of varying driving scenaria on a two-lane, one-way road, which shows the capability of the system to achieve appropriate longitudinal and lateral control strategies depending on the traffic situation.