摘要：AbstractGeometric curves are mostly applied as guidance for lane-keeping and lane-changing motions. In this work, we explore the capabilities of using sigmoid functions in vehicle overtaking scenarios. Such curves are parameterized based on the current relative distance and speed concerning the preceding vehicle. Besides, the overtaking decision, i.e., whether to change lane or not, can be determined by using a piecewise function in the planning module. Then, model predictive control (MPC) is applied to track the generated overtaking path. Case studies including two scenarios, i.e., preceding vehicle driving at constant and varying speed, show that the proposed control framework is capable of self-decision making and handling overtaking maneuver effectively.
关键词：KeywordsOvertaking maneuverpath planning methodsigmoid functionmodel predictive control
