Riassunto analitico
Overtaking is a maneuver that involves passing a slower vehicle traveling in the same
direction. It is widely considered one of the most dangerous, delicate, and complex
actions a driver can perform, as it requires a quick judgment of both the speed and
distance of the vehicle being overtaken, as well as a careful assessment of the available
space.
This thesis covers essentially the generation and optimization of an overtaking maneuver for a driver assistance system. The algorithm responsible for generating the
optimal overtaking trajectory is divided into two main parts. First, a geometric path is
created, and then an optimal time law is applied.
A B´ezier function is employed to generate the geometric path thanks to its simplicity
and flexibility. Additionally, an optimization process is applied to the geometric path to
ensure a safe and smooth overtaking profile, avoiding collisions with both the overtaken
vehicle and any oncoming traffic, while also preventing excessively sharp lane-change
maneuvers.
Finally, a semi-analytical optimal time law is generated, closely following the method
outlined in [1]. By imposing the car’s dynamic constraints, the algorithm is able to
generate speed and acceleration profiles that remain within the vehicle’s dynamic limits.
The overtaking trajectory obtained can be used for an overtaking maneuver for a
driver assistance system.
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