Abstract—The automation of the overtaking maneuver is considered\udto be one of the toughest challenges in the development\udof autonomous vehicles. This operation involves two vehicles (the\udovertaking and the overtaken) cooperatively driving, as well as\udthe surveillance of any other vehicles that are involved in the\udmaneuver. This operation consists of two lane changes—one from\udthe right to the left lane of the road, and the other is to return\udto the right lane after passing. Lane-change maneuvers have been\udused to move into or out of a circulation lane or platoon; however,\udovertaking operations have not received much coverage in the\udliterature. In this paper, we present an overtaking system for autonomous\udvehicles equipped with path-tracking and lane-change\udcapabilities. The system uses fuzzy controllers that mimic human\udbehavior and reactions during overtaking maneuvers. The system\udis based on the information that is supplied by a high-precision\udGlobal Positioning System and a wireless network environment. It\udis able to drive an automated vehicle and overtake a second vehicle\udthat is driving in the same lane of the road.
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