This paper introduces an application of local motion planning designed explicitly for overtaking maneuvers in a rural road environment. The approach integrates multiple driving strategies for enhanced passenger comfort, including the fastest path and minimum jerk trajectory. A robust trajectory planner technique is developed using the Frenet frame, effectively considering real traffic situations, curves, and moving obstacles. Comprehensive analyses are performed on vehicle dynamics, individual cost function components, and planning and tracing times to assess the performance and computational efficiency of the proposed methods. The simulation results highlight the approach’s strengths in maintaining dynamic feasibility, ensuring safety, and enhancing passenger comfort while identifying areas for potential improvements, such as computational overhead in complex scenarios.