Real-Time Trajectory Planning Method Based On N-Order Curve Optimization

In recent years, many functionalities were developed for Automated Vehicles (AVs) and some of them with close-to-market prototypes. A required topic is the generation of continuous trajectories that reduces the amount of discrete and pre-coded instructions while leading the vehicle safely. Consequently, this work presents a novel real-time trajectory planning approach based on numerical optimization of n-order Bézier curves and lane-based information. The generation of a feasible trajectory considers the vehicle dimension while driving into a lane-corridor. The nonlinear optimization problem was solved with the Bound Optimization BY Quadratic Approximation method (BOBYQA), and it uses the passengers’ comfort, safety, and vehicle dynamics as constraints of the problem. The solution is validated in a simulation environment using a bus with a length of 12 meters. Moreover, the validation considered the roundabouts due to its complexity, nevertheless, the solution is scalable to other scenarios.

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