Autonomous lane change in virtual environment The word autonomous is nowadays widely spread in the automotive world. Thinking about an autonomous vehicle, the first thing is how it should drive and how the controller should think about imminent decision. In this thesis a study about an overtaking trajectory is carried on aiming to have good comfort behaviour. Simulation in CarMaker and post process analysis using Matlab have been done, along with an optimisation model realised in Activate of the Altair suite.