Constrained autonomous vehicle overtaking trajectories are usually difficult to be generated due to certain practical requirements and complex environmental limitations. This problem becomes more challenging when multiple contradicting objectives are required to be optimized and the on-road objects to be overtaken are irregularlyplaced. In this paper, a novel swarm intelligence-based algorithm is proposed for producing the multi-objective optimal overtaking trajectory of autonomous ground vehicles. The proposed method solves a multiobjective optimal control model in order to optimize the maneuver time duration, the trajectory smoothness, and the vehicle visibility, while taking into account different types of mission-dependent constraints. However, one problem that could have an impact on the optimization process is the selection of algorithm control parameters. To desensitize the negative influence, a novel fuzzy adaptive strategy is proposed and embedded in the algorithm framework. This allows the optimization process can dynamically balance the local exploitation and global exploration, thereby exploring the trade-off between objectives more effective. The performance of using the designed fuzzy adaptive multi-objective method is analyzed and validated by executing a number of simulation studies. The results confirm the effectiveness of applying the proposed algorithm to produce multi-objective optimal overtaking trajectories for the autonomous ground vehicles. Moreover, the comparison to other stateof-the-art multi-objective optimization schemes shows that the designed strategy tends to be more capable in terms of producing a set of widespread and high-quality pareto-optimal solutions.