Local Motion Planning for Overtaking Maneuvers in a Rural Road Environment

Dániel Losonczi, Árpád Fehér, Szilárd Aradi, László Palkovics

2024

Abstract

This paper introduces an application of local motion planning designed explicitly for overtaking maneuvers in a rural road environment. The approach integrates multiple driving strategies for enhanced passenger comfort, including the fastest path and minimum jerk trajectory. A robust trajectory planner technique is developed using the Frenet frame, effectively considering real traffic situations, curves, and moving obstacles. Comprehensive analyses are performed on vehicle dynamics, individual cost function components, and planning and tracing times to assess the performance and computational efficiency of the proposed methods. The simulation results highlight the approach’s strengths in maintaining dynamic feasibility, ensuring safety, and enhancing passenger comfort while identifying areas for potential improvements, such as computational overhead in complex scenarios.

Paper Citation

in Harvard Style

Losonczi D., Fehér Á., Aradi S. and Palkovics L. (2024). Local Motion Planning for Overtaking Maneuvers in a Rural Road Environment. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 220-227. DOI: 10.5220/0013001600003822

in Bibtex Style

@conference{icinco24,
author={Dániel Losonczi and Árpád Fehér and Szilárd Aradi and László Palkovics},
title={Local Motion Planning for Overtaking Maneuvers in a Rural Road Environment},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2024},
pages={220-227},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013001600003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Local Motion Planning for Overtaking Maneuvers in a Rural Road Environment
SN - 978-989-758-717-7
AU - Losonczi D.
AU - Fehér Á.
AU - Aradi S.
AU - Palkovics L.
PY - 2024
SP - 220
EP - 227
DO - 10.5220/0013001600003822
PB - SciTePress