Heuristic Gauss allocation points parameterization consecutive obstacle avoidance planning under obstacle irregular motion
ZHANG Jun
LIU Ping
PIAO Chang-hao
Abstract：Aiming at the obstacle avoidance trajectory planning of self-driving vehicle(SDV)under the irregular move-ment of obstacles,this article proposes a trajectory planning algorithm combining model constraint simplification and heuristic non-uniform Gauss allocation parameterization.First,the SDV continuous trajectory planning for problem of obstacle avoidance is established by combining the SDV kinematics equations and constraints;Then,the Gauss collocation is employed to discretize the state variables under the framework of the Gaussian pseudospectral discretization algorith-m;Accordingly,a heuristic Gauss configuration initialization strategy is proposed to improve the SDV solution efficiency and realize real-time planning for obstacle avoidance;Meanwhile,verification is carried out after the obtained trajectory through constraint processing to ensure the safety of the planned trajectory;Finally,simulation tests are conducted on the vehicle model in different obstacle motion scenes to verify the effectiveness and real-time performance of the proposed method.The results show that this method can effectively generate trajectory planning for obstacle avoidance and ensure the trajectory security.Meanwhile,the average solving time of the trajectory planning method in this paper is about 25 ms.revealing the effectiveness and practical application value of the real-time obstacle avoidance planning method.
Keywords：automatic drivingtrajectory planningirregular motionheuristic strategyGauss allocation points
Publication Date：2024-10-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 1873-1881 )