Trajectory planning of overtaking for intelligent vehicle based on X-Sin function

One of the common phenomenon on the road is overtaking. Traffic accidents caused by overtaking account for about fifteen percents of the total. Important reasons to the frequent occurrence of overtaking accidents are the improper selection of overtaking time and misoperation. With the development of intelligent vehicle technologies, these issues can be well solved [1]. One of the prerequisite to achieve intelligent vehicle overtaking behavior is overtaking trajectory planning. This paper analyze the method of overtaking trajectory planning on unidirectional two-lane road. We establish X-Sin function overtaking trajectory model and evaluate this model by introducing curvature, road width, and the maximum lateral acceleration as parameters. MATLAB simulation results show that X-Sin function overtaking trajectory can solve some insufficient of existing lane changing model [2]. At last, we get the conclusion that X-Sin function overtaking trajectory is close to real overtaking situation through comparing the results of MATLAB simulation and real vehicle test. Therefore, our study can rapidly provide a safe trajectory for the process of intelligent vehicle overtaking maneuver.