How do drivers overtake cyclists?

In this study an instrumented bicycle recorded 145 overtaking maneuvers performed by car and truck drivers on public rural roads in Sweden. The bicycle was equipped with a LIDAR and two cameras to assess how drivers approached and circumvented the bicycle. The collected data allowed us to identify four overtaking phases and quantify the corresponding driver comfort zones. The presence of an oncoming vehicle was the factor that most influenced the maneuver, whereas neither vehicle speed, lane width, shoulder width nor posted speed limit significantly affected the driver comfort zone or the overtaking dynamics.