Collaborative Autonomous Overtaking System for Mixed Traffic Environments

This paper explores the challenges associated with executing safe overtaking maneuvers. To address these concerns, we introduce a collaborative autonomous overtaking system that leverages Vehicle-to-Vehicle (V2V) communication alongside a camera-based approach for detecting surrounding vehicles. Our approach involves sharing captured images among vehicles to ensure secure overtaking, eliminating blind spots for the overtaking vehicle. The system employs potential field algorithms for path generation and model predictive control to optimize vehicle control throughout the maneuver. Through simulations in various traffic scenarios, we validate the efficacy of the proposed system, showcasing significant improvements in traffic flow and safety, notably enhancing the system safety. This research contributes to the seamless integration of autonomous systems into existing traffic setups by incorporating a camera-based vehicle detection system and reducing reliance on traditional LiDAR and radar technologies.