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A Novel Lane Overtaking Approach for Connected Vehicles Using Cooperative Perception

This paper discusses a novel Lane overtaking decision algorithm designed for connected vehicles. The proposed approach is based on cooperative perception and collaboration between vehicles to relay real-time critical safety data about their status including position, speed and signal direction. Mathematical analysis is conducted in two-lane change overtaking use case scenarios. The first scenario involves an oncoming vehicle in the opposite direction which requires a thorough analysis for the overtaker to make a reliable passing decision. The second scenario includes a more hazardous situation with high uncertainty road conditions due to limited visibility by the leader vehicle. Risk assessment factor is estimated as the overtake timing needed by the overtaker to complete the lane change passing. Overtaking decisions are suggested based on the computed overtaking timing and speed in both scenarios.