Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from sensor occlusion make this a challenging control problem. To overcome these difficulties, we propose a cooperative communication-based approach that utilizes the information shared between CAVs to reduce the effects of sensor occlusion while benefiting from the local velocity prediction based on past tracking data. Our control framework aims to perform overtaking maneuvers with the objective of maximizing velocity while prioritizing safety and passenger comfort. Our method is also capable of reactively adjusting its plan to dynamic changes in the environment. The performance of the proposed approach is verified using realistic traffic simulations.

翻译：安全超车，尤其是在双向混合交通场景中，仍是网联自动驾驶汽车面临的关键挑战。人类驾驶车辆的存在、行为不可预测性以及传感器遮挡导致的盲区，使这一问题成为具有挑战性的控制难题。为克服这些困难，我们提出一种基于合作通信的方法，该方法利用网联自动驾驶汽车之间共享的信息来减少传感器遮挡的影响，同时受益于基于历史跟踪数据的局部速度预测。我们的控制框架旨在执行超车操作，以最大化车速为目标，同时优先保障安全性和乘客舒适度。该方法还能对环境动态变化进行反应式调整。通过逼真的交通仿真验证了所提方法的性能。