A Trajectory Planning Algorithm for Autonomous Overtaking Maneuvers

Autonomous overtaking maneuver is one of the toughest challenges in the field of autonomous vehicles. A key issue of autonomous overtaking maneuver is to find a dynamically feasible trajectory to avoid collision with the overtaken vehicle and surrounding hazards. Traditional trajectory planning algorithms assume that the initial and final vehicle states are given before and generate a trajectory for the whole overtaking process. However, overtaking maneuver is generally a time consuming process. Those assumptions may be invalid in highly dynamic environment. This paper tries to present a dynamic trajectory planning algorithm for autonomous overtaking maneuvers. The whole overtaking maneuver trajectory is made up of several short-time trajectories. Each short-time trajectory is generated by a kinematic vehicle model and taken into account of the surrounding environment and traffic rules. The concept presented in this paper is demonstrated through simulation and the results are discussed.

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