Abstract
Abstract The paper proposes an advanced graph-based optimal solution to overtaking scenarios for autonomous vehicles. The advantage of the method is that it is possible to consider several human-driven vehicles in the environment of autonomous vehicles. There is a probability-based approach in the background of the graph-based route selection optimization, with which the motions of the human-driven vehicles are predicted. The result of the method is the road and the velocity profile of the autonomous vehicle, with which emergencies and even collisions can be avoided. The efficiency of the optimization algorithm is illustrated through a simulation scenario.
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