Abstract
Among the driving possible scenarios in highways, the overtaking 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 field on last years. It involves a great interaction between both longitudinal (throttle and brake) and lateral (steering) actuators. This work presents a three phases overtaking path planning using Bézier 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.
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Acknowledgment
This work is partly supported by the H2020 project UnCoVerCPS with grant number 643921.
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Lattarulo, R., Marcano, M., Pérez, J. (2018). Overtaking Maneuver for Automated Driving Using Virtual Environments. In: Moreno-Díaz, R., Pichler, F., Quesada-Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2017. EUROCAST 2017. Lecture Notes in Computer Science(), vol 10672. Springer, Cham. https://doi.org/10.1007/978-3-319-74727-9_54
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DOI: https://doi.org/10.1007/978-3-319-74727-9_54
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