To reproduce the human-like overtaking strategy for automated vehicle, the paper proposes a motion planning and tracking framework for vehicle to overtake a pedestrian who is walking along a straight urban road considering the individual driving style. Firstly, Risk Estimation Index is estimated based on Driver Behaviour, which comprises longitudinal and lateral risk estimation. The beginning and ending point of planned path are decided based on environment information, vehicle state and chosen driving style. From these two points, a smooth path is generated using Interpolating Curve Planner with constraint of Risk Estimation value for individual driving style. To follow the reference trajectory, steering angle and longitudinal acceleration controller based on Model Predictive Control method regulates the lateral and longitudinal movement of the vehicle. Finally, the proposed method is verified by specific examples.

Nagoya University: Manh Dung Vu, Tatsuya Suzuki, Hirofumi Aoki, Sueharu Nagiri