Abstract
Autonomous vehicle control needs two essential algorithms, the first path planning, it covers either finding vehicle subject position and destination point and environment identification to avoid obstacle within tailgating, lane change and overtaking. The second to be tracking control to realize drive, brake and steering action based on complexity of path planning. This research contribute to a path planning for unidirectional and bidirectional on non-lane undivided roads overtaking.It need to be designed and investigated the desired acceleration of vehicle subject for tailgating and overtaking vehicle object 1 in front and has same direction without crash with vehicle object 2, what come front the opposite direction. The results of the investigation show that the desired acceleration of the subject vehicle can be properly mapped under condition of varied position, velocity and acceleration of overtaken vehicle object 1 and vehicle object 2. The maximum desired acceleration was eliminated by consideration of critical rolling and sliding velocity of vehicle subject. The acceleration mapping can be used for safety overtake planning.
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