Space Discretization-Based Optimal Trajectory Planning for Automated Vehicles in Narrow Corridor Scenes

The narrow corridor is a common working scene for automated vehicles, where it pretty challenging to plan safe, feasible, and smooth trajectory due the passable area constraints. This paper presents space discretization-based optimal planning method vehicles in with consideration of travel time minimization boundary collision avoidance. In this method, we first design mathematically-described driving model. Then, build optimization model which objective function efficiency, vehicle-kinematics constraints, avoidance several other constraints are proposed ensure feasibility comfortability planned trajectory. Finally, verified both simulations field tests. experimental results demonstrate by smoother more computationally efficient compared baseline methods while significantly reducing tracking error indicating has huge application potential scenario vehicles.