Implement Overtaking / Obstacle Avoidance

[ourendingdays]

Task

• translate coordinates relative to the car's position into global coordinates
• integrate more perceptions into the local planning process
• implement some maneuvers using e.g. a state machine

Goal

• decide when to overtake and when to just wait behind a static object or follow a slowly moving vehicle
• perform overtaking and obstacle avoidance maneuvers

Big Picture

• avoid any crashes / accidents in city mode