Karami Ghanavati, Ali (Qatar University), Meskin, Nader (Qatar university), Dizqah, Arash (University of Sussex)

Autonomous Overtaking in Mixed Traffic Environments Using Model Predictive Control

Scheduled for presentation during the Regular Session "Advanced Motion Planning and Navigation" (FrBT2), Friday, July 18, 2025, 14:00−14:20, Room 106

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

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.