Trajectory Planning and Tracking Control of Vehicle Obstacle Avoidance based on Optimization Control

For the problem of vehicle obstacle avoidance control, a steering obstacle avoidance method based on optimization idea is designed. In the research of obstacle avoidance path planning method, a design method with three-segment sinusoidal lateral acceleration is adopted, combining with various practical constraints of vehicle and safe distance, an optimization solution method of obstacle avoidance trajectory is presented, which takes obstacle avoidance time as the optimal objective. Based on the established two-degree-of-freedom vehicle dynamics model, a tracking controller with moving horizon idea is designed. Using the vehicle dynamics simulation software veDYNA, the scene of vehicle lane change and obstacle avoidance is constructed. The effectiveness and control performance of this method are illustrated by simulation.