Graph-based Multi-Vehicle Overtaking Strategy for Autonomous Vehicles

Támas Hegedus, Balázs Németh, Péter Gáspár

Research output: Contribution to journalConference article

1 Citation (Scopus)


The paper proposes an advanced graph-based optimal solution to overtaking scenarios for autonomous vehicles. The advantage of the method is that it is possible to consider several human-driven vehicles in the environment of autonomous vehicles. There is a probability-based approach in the background of the graph-based route selection optimization, with which the motions of the human-driven vehicles are predicted. The result of the method is the road and the velocity profile of the autonomous vehicle, with which emergencies and even collisions can be avoided. The efficiency of the optimization algorithm is illustrated through a simulation scenario.

Original languageEnglish
Pages (from-to)372-377
Number of pages6
Issue number5
Publication statusPublished - Jan 1 2019
Event9th IFAC Symposium on Advances in Automotive Control, AAC 2019 - Orléans, France
Duration: Jun 23 2019Jun 27 2019



  • autonomous vehicles
  • graph-based route selection
  • motion prediction
  • overtaking strategy

ASJC Scopus subject areas

  • Control and Systems Engineering

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