Overtaking maneuver for automated driving using virtual enviroments

Abstract

Among the driving possible scenarios in highways, the over- taking maneuver is one of the most challenging. Its high complexity along with the interest in automated cooperative vehicles make this maneuver one of the most studied topics on the eld on last years. It involves a great interaction between both longitudinal (throttle and brake) and lat- eral (steering) actuators. This work presents a three phases overtaking path planning using B ezier curves, with special interest in the continuity of the curvature. Communication among the vehicles is also considered. Finally, the maneuver will be validated using Dynacar, a dynamic model vehicle simulator.