Abstract
In this paper, a path planning method is proposed that prepares to avoid the danger. Path planning is performed based on the acceleration for collision avoidance (ACA) that represents the severity of potential danger. ACA is the acceleration required to avoid collision with the object vehicle. This paper focuses on the driving scenario for overtaking. Vehicle driving scenario is simulated with proposed method. As a result, the ego vehicle's velocity and position are planned so that the vehicle can avoid object vehicle's lane change at any time. This path planning method and its simulation results are discussed.
