Study of overtaking method of intelligent vehicle under vehicle road coordination

Aiming at the safe overtaking in the autonomous driving of the intelligent vehicle, the overtaking method of intelligent vehicle under vehicle road coordination is advanced. First, according to the current vehicle movement state and the surrounding environment, the overtaking behaviour decision is proposed. Second, with the support of vehicle-road collaboration technology, the principle of the overtaking method is analysed. The position and speed of the associated vehicles within the real-time range are collected with the Road Side Unit (RSU). The RSU communicates with the autonomous vehicle in two-way, and vehicle selects overtaking behaviour. Finally, the validity of this method is verified by the cases, the overtaking method includes overtaking in the borrowing lane, the extended overtaking lane and the emergency lane. The research results of this study not only provide a basis for the method of the safe overtaking in the process of the intelligent vehicle autonomous driving, but also lay a foundation for the intelligent transportation system (ITS).