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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    Title :

    A Trajectory Planning Algorithm for Autonomous Overtaking Maneuvers



    Published in:

    Applied Mechanics and Materials ; 347-350 ; 3494-3499


    Publication date :

    2013-08-08


    Size :

    6 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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