Systems, methods, and other embodiments described herein relate to improving vehicle behavior planning to avoid undertaking maneuvers. In one embodiment, a method includes generating a driving context from sensor data about a surrounding environment of an ego vehicle. The driving context identifying lanes of a roadway and a position of the ego vehicle in the lanes. The method includes, in response to determining that the driving context and a state of a nearby vehicle satisfy a merge threshold, generating a trajectory for the ego vehicle that avoids undertaking the nearby vehicle. The method includes controlling the ego vehicle according to the trajectory.
VEHICLE BEHAVIOR PLANNING FOR OVERTAKING VEHICLES
29.09.2022
Patent
Elektronische Ressource
Englisch
TRAJECTORY PLANNING FOR AUTOMATED VEHICLES IN OVERTAKING SCENARIOS
British Library Conference Proceedings | 2019
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