Model Predictive Control Design for Overtaking Maneuvers for Multi-Vehicle Scenarios

The paper proposes the design of an MPC-based method for overtaking maneuvers of autonomous vehicles. The strategy incorporates a graph-based optimization algorithm, in which the probability of collisions with the surrounding vehicles is incorporated. The purpose of the graph search is to determine the road and velocity profile of the autonomous vehicle, which is guaranteed by the proposed MPC control. The novel algorithm is able to consider the multi-vehicle scenarios during the overtaking maneuver. The effectiveness of the method is presented in CarMaker simulation scenarios.