Practical path planning techniques in overtaking for autonomous shuttles

This paper proposes a reliable optimized sigmoid-based path planning algorithm that ensures smooth, fast and safe overtaking maneuver, while maintaining the necessary safety distance. In the proposed method, the desired smoothness of trajectories, the changes in steering angle and the lateral acceleration are controlled in a robust way. This paper describes the simulations, and the confirming real-world experiments, conducted using the autonomous shuttle iseAuto. Our results suggest that the sigmoid A-star algorithm leads to a smoother and more reliable motion when compared to other two standard methods. Specifically, the abruptness of necessary steering angle changes is reduced by factor of 4, and approaching the level of an experienced driver-like maneuver.