Distributed Motion Planning for Safe Autonomous Vehicle Overtaking via Artificial Potential Field

Autonomous driving of multi-lane vehicle platoons have attracted significant attention in recent years due to their potential enhance the traffic-carrying capacity roads and produce better safety for drivers passengers. This paper proposes a distributed motion planning algorithm ensure safe overtaking autonomous vehicles dynamic environment using Artificial Potential Field method. Unlike conventional techniques, strategies can be used implement via formation control unmanned complex platoon presence human-operated vehicles. Firstly, we formulate problem group into multi-target tracking problem, where targets are dynamic. To model multi-vehicle system consisting both vehicles, introduce notion velocity difference field acceleration field. We then analyze stability propose an optimization-based solving by placing target traditional artificial A simulation case study has been performed verify feasibility effectiveness proposed strategy platoon.