Automated Vehicle’s Overtaking Maneuver with Yielding to Oncoming Vehicles in Urban Area Based on Model Predictive Control

The rapid development of automated driving technology has brought many emerging technologies. collision avoidance (CA) function by braking and/or steering maneuver advanced driver assistance systems (ADAS), which contributes to the improvement safety vehicles, been playing an important role in recent modern passenger cars and commercial vehicles. When vehicle needs avoid multiple obstacles at same time, consuming travel time assurance CA need be carefully considered especially case related unpredictable motion obstacles. This paper proposes a feasible solution this situation controlling speed wheel angle. proposed re-planning based on post-encroachment (PET) provides judgment calculates possibility unavoidable road accidents. Then path layer novel two-layer model predictive control (TL-MPC) will re-plan local trajectory give reference acceleration. Finally, tracking outputs angle follow under premise ensuring constraints. system is evaluated co-simulations MATLAB/Simulink CarSim software. results show that for various conditions ego adopting strategy conduct reasonable behavior consequently successfully