This paper introduces an application of local motion planning designed explicitly for overtaking maneuvers in a rural road environment. The approach integrates multiple driving strategies for enhanced passenger comfort, including the fastest path and minimum jerk trajectory. A robust trajectory planner technique is developed using the Frenet frame, effectively considering real traffic situations, curves, and moving obstacles. Comprehensive analyses are performed on vehicle dynamics, individual cost function components, and planning and tracing times to assess the performance and computational efficiency of the proposed methods. The simulation results highlight the approach’s strengths in maintaining dynamic feasibility, ensuring safety, and enhancing passenger comfort while identifying areas for potential improvements, such as computational overhead in complex scenarios.

This paper presents an approach for global trajectory planning using quadratic optimization and dynamic programming. In the global route planning phase, the goal is to find a route with minimal curvature for any road geometry, while a speed profile is determined by dynamic programming based on the vehicle's dynamic constraints. The method has a low computational cost and is well-suited for integration within a hierarchical system architecture, where the trajectory can be further refined with local route planning to enable the vehicle to adapt to changing environmental conditions. The developed method ensures vehicle stability while achieving the highest possible speed. The approach is implemented in the Frenet coordinate system within a self-developed simulation environment that allows for a comprehensive evaluation of vehicle dynamics, trajectory feasibility, and performance metrics. The results show that the proposed method can generate smooth and dynamically feasible trajectories while balancing curvature minimization, safety, and computational efficiency, making it well-suited for real-world applications.