A partial cooperative control vehicle‐to‐vehicle trajectory planning algorithm with potential field constraints of arc‐shaped road's boundary and vehicles’ relative position

In this paper, a vehicle-to-vehicle (V2V) trajectory planning algorithm for two vehicles driving in an arc-shaped road is represented, which the characteristics of human drivers are taken into consideration. Safety constraints including vehicle stability, boundaries, and collision avoidance considered. The boundary constraint realized with potential field method. method also employed to realize distance margin. concept partial cooperative control presented, can depict collaboration more accurately. designed pattern, employing model predictive (MPC). effectiveness verified by software simulation scenario overtaking roads. accomplish V2V task successfully. performance representing different degrees phases grouping complex scenarios studied.