Chassis Global Dynamics-Oriented Trajectory Planning for Automated Vehicles
针对现有轨迹规划忽略车辆动力学导致的不稳定问题，提出基于底盘全局动力学的轨迹规划方案，通过数值优化生成兼顾几何平滑、动力学可行和安全的最优轨迹，仿真验证了有效性。
The trajectory planning module generates optimal collision-free paths, which is essential to automated driving. Existing approaches have focused on traffic flow situations and the geometrical feasibility of local trajectories. However, high nonlinearity of vehicle dynamics could cause handling instability or even severe accidents in cases of tracking dynamic infeasible paths. Meanwhile, the variety and complexity of driving environments bring intractable challenges to safe trajectory planning. This article aims to address this crucial issue and proposes a chassis global dynamics-oriented trajectory planning scheme. This work designs comprehensive performance indices to represent handling dynamic status based on chassis dynamics modeling. As the basis of trajectory planning, a reference path is extracted from global digital map data, and the curvilinear coordinate frame is exploited. Numerical optimization is proposed to solve the trajectory planning problem. Thus, an optimal and dynamically feasible trajectory, which satisfies geometrical smoothness, chassis global dynamics indices, and feasible safety, can be generated and transformed. Various scenarios are involved in carrying out simulation tests, and those results demonstrate the excellent capability and effectiveness of the proposed scheme to provide optimal trajectories in a variety of driving situations.