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Autonomous Overtaking in Mixed Traffic Environments Using Model Predictive Control
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Date
2025
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Abstract
This paper addresses the problem of overtaking in autonomous vehicles using Model Predictive Control in mixed traffic scenarios in which an autonomous vehicle is overtaking a human driven vehicle. The proposed framework eliminates the need for a separate motion planner by integrating new decision-making processes and passenger comfort criteria specifically tailored for overtaking. A comprehensive analysis of potential overtaking scenarios is performed and simulation results are presented to demonstrate the effectiveness of the proposed algorithm.