Adelantamiento con vehiculos autónomos en carreteras de doble sentido

Research on cooperation and control among autonomous vehicles is in the vanguard of the Intelligent Transportation Systems (ITS). Some examples are the intersection manoeuvres, Adaptive Cruise Control (ACC), and overtaking, among others. Overtaking requires special attention in dynamic environments, especially when there is a vehicle coming from the other direction on a two-way road. In this paper a decision algorithm, a communication system among three vehicles and a fuzzy logic control, to implement the overtaking manoeuvre are explained. Different use cases has been considered, they evaluate if to finish or to abort in a safe way the overtaking manoeuvre. The results show a good performance of the fuzzy control based in human knowledge for high risk manoeuvres.