An Overtaking Obstacle Algorithm for Autonomous Driving based on Dynamic Trajectory Planning
Yizhou Chen, Yongming Huang · 2018
Autonomous driving is the most important form of automotive intelligent development, and vehicle obstacle avoidance is an important function of the autonomous driving technology. This paper proposed an overtaking obstacle algorithm for autonomous driving based on dynamic trajectory planning, which is mainly composed of dynamic trajectory planning and trajectory tracking control. The Matlab/Simulink and CarSim joint simulation are used to evaluate the effect of autonomous control. The simulation results show that the overtaking obstacle avoidance algorithm can dynamically plan the overtaking trajectory and achieve accurate and stable tracking under different vehicle speed conditions. The whole system is real-time and robust.