2023
DOI: 10.3390/wevj15010007
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Obstacle Avoidance Trajectory Planning for Autonomous Vehicles on Urban Roads Based on Gaussian Pseudo-Spectral Method

Zhenfeng Li,
Xuncheng Wu,
Weiwei Zhang
et al.

Abstract: Urban autonomous vehicles on city roads are subject to various constraints when changing lanes, and commonly used trajectory planning methods struggle to describe these conditions accurately and directly. Therefore, generating accurate and adaptable trajectories is crucial for safer and more efficient trajectory planning. This study proposes an optimal control model for local path planning that integrates dynamic vehicle constraints and boundary conditions into the optimization problem’s constraint set. Using … Show more

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