ABSTRACT
This paper describes a new method for autonomous vehicle trajectory planning in obstacle avoidance maneuver. The concept of the controller design is based on the method called “inverse dynamics compensation via simulation of feedback control systems (IDCS)” which makes use of simulations in ideal environment to get high performance in control. Conventional trajectory planning method based on potential field mostly treats the vehicle dynamics as a particle, thus the vehicle path becomes unstable in high speed region which the vehicle dynamics cannot be neglected. The feedback simulation method is useful to embed the vehicle nonlinear characteristics for the trajectory planning algorithm. The repulsive force from potential field is treated as disturbance forces to the vehicle in the simulation model. The effectiveness of the control system is verified and compared with the conventional potential field algorithm.
