  Cooperative overtaking is believed to have the capability of improving road
safety and traffic efficiency by means of the real-time information exchange
between traffic participants, including road infrastructures, nearby vehicles
and others. In this paper, we focused on the critical issues of modeling,
computation, and analysis of cooperative overtaking and made it playing a key
role in the road overtaking area. In detail, for the purpose of extending the
awareness of the surrounding environment, the lane markings in front of ego
vehicle were detected and modeled with Bezier curve using an onboard camera.
While the nearby vehicle positions were obtained through the vehicle-to-vehicle
communication scheme making assure of the accuracy of localization. Then,
Gaussian-based conflict potential field was proposed to guarantee the
overtaking safety, which can quantitatively estimate the oncoming collision
danger. To support the proposed method, many experiments were conducted on the
human-in-the-loop simulation platform. The results demonstrated that our
proposed method achieves better performance, especially in some unpredictable
nature road circumstances.
