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Trajectory Planning Based on an Improved Three-Element Obstacle Avoidance Model
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Changjun LIU1, Yuelong YE2, Chun YUAN1
Chinese Journal of Automotive Engineering | 2024, 14(6) : 947 - 958
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Chinese Journal of Automotive Engineering | 2024, 14(6): 947-958
• Inteligent & Connected Technologies Section/Editor in Chief: GAO Zhenhai •
Trajectory Planning Based on an Improved Three-Element Obstacle Avoidance Model
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Changjun LIU1, Yuelong YE2, Chun YUAN1
Affiliations
  • 1 Key Laboratory of Advanced Manufacturing Technology of Auto Parts, Ministry of Education Chongqing University of Technology Chongqing 400054 China
  • 2 Engineering Center of Mechanical Testing, Ministry of Education Chongqing University of Technology Chongqing 400054 China
doi: 10.3969/j.issn.2095-1469.2024.06.03
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A geometric obstacle avoidance model is proposed for traffic environments with dynamic obstacles, which can describe the relationship between vehicle and obstacle movements. By decomposing the spatial distance between the vehicle and the obstacle into two directional components and incorporating their relative speed, three key elements are obtained. Based on these elements, an improved obstacle avoidance model is developed. Using the Model Predictive Control (MPC) principle, the discrete vehicle kinematics model is employed as the predictive model. The objective function and constraints are constructed by adopting the Frenet coordinate system and considering factors such as road boundaries, the vehicle's mechanical structure, driving safety and comfort. Finally, a nonlinear programming problem is established and solved. In this paper, the SF5 is used as the experimental vehicle, with hardware and sensors installed to build an autonomous driving platform. A trajectory planning algorithm was deployed on a ROS and Matlab/Simulinkbased software platform for realworld vehicle testing. The results show that this method not only ensures smooth obstacle avoidance, but also produces a reasonable and comfortable driving path.

autonomous driving  /  model predictive control  /  trajectory planning  /  co-simulation  /  real car experiment
Changjun LIU, Yuelong YE, Chun YUAN. Trajectory Planning Based on an Improved Three-Element Obstacle Avoidance Model[J]. Chinese Journal of Automotive Engineering, 2024 , 14 (6) : 947 -958 . DOI: 10.3969/j.issn.2095-1469.2024.06.03
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Article Info
doi: 10.3969/j.issn.2095-1469.2024.06.03
  • Receive Date：2023-07-30
  • Online Date：2025-07-20
Article Data
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  • Received：2023-07-30
  • Revised：2023-09-26
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Affiliations
    1 Key Laboratory of Advanced Manufacturing Technology of Auto Parts, Ministry of Education Chongqing University of Technology Chongqing 400054 China
    2 Engineering Center of Mechanical Testing, Ministry of Education Chongqing University of Technology Chongqing 400054 China
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https://castjournals.cast.org.cn/joweb/qcgcxb/EN/10.3969/j.issn.2095-1469.2024.06.03
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