Planning and tracking for safe autonomous overtaking and abort overtaking through a model predictive controller

This paper addresses trajectory planning for overtaking maneuvers in a dynamic, two-way, two-lane environment. The proposed novel five-stage planning algorithm comprises initial lane change, acceleration, final lane change, abort, and final lane change abort. This algorithm allows overtaking to be aborted in oncoming lane danger, reverting to the original lane. Employing a point mass model-based model predictive control (MPC) framework, separate longitudinal and lateral planning is conducted in each phase, combined to generate the overall trajectory. A practical nonlinear bicycle model is employed for trajectory tracking to address kinematic infeasibility. Furthermore, the tracking controller utilizes adaptive MPC. Numerical simulations validate the performance of the proposed algorithm.