A Trajectory Planning Method for Autonomous Vehicles in Complex Driving Environment
The vehicle trajectory planning directly concerns the safety and efficiency of autonomous driving.In response to this issue,an automatic driving vehicle trajectory planning method tailored for complex driving environments was proposed.Addressing both static/dynamic and conventional/irreg-ular obstacles,a mixed-integer approach was introduced in the method to model the infeasible regions caused by obstacles and to resolve the obstacle avoidance challenges in trajectory planning.Moreover,based on optimal control theory,the optimal feasible trajectory was planned while ensuring obstacle a-voidance.The effectiveness of this method was validated on the Prescan and MATLAB/Simulink inte-grated simulation platform,demonstrating its ability to navigate through complex driving environ-ments with ensuring trajectory feasibility and enhancing vehicle driving comfort and stability.
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维普
