Modeling and Intelligent Control System Design for Overtaking Maneuver in Autonomous Vehicles

The purpose of this study is to design an intelligent control system to guide the overtaking maneuver with a higher performance than the existing systems. Unlike the existing models which consider constant values for some of the effective variables of this behavior, in this paper, a neural network model is designed based on the real overtaking data using instantaneous values for variables. A fuzzy controller is then designed to present trajectory of the overtaking vehicle. Validation of the proposed controller is done by comparing the responses of the controller with the behavior of human drivers. Results show that the controller system intelligently performs like a human driver and also eliminates their mistakes and sudden moves.