Bézier curve-based trajectory planning for autonomous vehicles with collision avoidance

This study proposes an effective trajectory planning algorithm based on the quartic Bézier curve and dangerous potential field for automatic vehicles. To generate collision-free trajectories, potential field functions are introduced to evaluate the collision risk of path candidates. However, many st...

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Bibliographic Details
Published in:	IET intelligent transport systems Vol. 14; no. 13; pp. 1882 - 1891
Main Authors:	Zheng, Ling, Zeng, Pengyun, Yang, Wei, Li, Yinong, Zhan, Zhenfei
Format:	Journal Article
Language:	English
Published:	The Institution of Engineering and Technology 15.12.2020
Subjects:	adjacent sub‐trajectories artificial potential field automatic vehicles autonomous vehicles Bézier curve‐based trajectory collision avoidance collision risk collision‐free trajectories complex driving scenarios curving roads dangerous potential field driving comfortability driving safety effective trajectory Frenet coordinate system generated path generated trajectory mobile robots optimisation problem path candidate path planning path‐planning problem potential field functions quadratic programming quartic Bézier curve Research Article road safety road traffic road vehicles sequential quadratic programming algorithm static roads straight roads trajectory control typical traffic scenarios vehicle dynamic constraints vehicle dynamics velocity generation driving comfortability collision avoidance collision risk Bézier curve-based trajectory curving roads effective trajectory mobile robots road safety velocity generation optimisation problem generated path generated trajectory dangerous potential field road vehicles automatic vehicles trajectory control sequential quadratic programming algorithm path candidate static roads road traffic autonomous vehicles potential field functions straight roads quartic Bézier curve driving safety vehicle dynamics path planning quadratic programming vehicle dynamic constraints path-planning problem complex driving scenarios collision-free trajectories artificial potential field Frenet coordinate system typical traffic scenarios adjacent sub-trajectories
ISSN:	1751-956X, 1751-9578
Online Access:	Get full text
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Summary:	This study proposes an effective trajectory planning algorithm based on the quartic Bézier curve and dangerous potential field for automatic vehicles. To generate collision-free trajectories, potential field functions are introduced to evaluate the collision risk of path candidates. However, many studies on artificial potential field approaches primarily focus on static and straight roads, and attach less importance to more complex driving scenarios, such as curving roads. In this study, a novel method based on the Frenet coordinate system is proposed to address such limitations. Moreover, to balance the driving comfortability and the driving safety of the path candidate, the path-planning problem is converted to an optimisation problem, and sequential quadratic programming algorithm is employed to tackle this task. Another merit of this algorithm is the curvature of the generated path is continuous even at the joints of adjacent sub-trajectories by utilising several specific properties of the Bézier curve. Furthermore, to execute the generated trajectory, a framework of velocity generation is proposed while vehicle dynamic constraints are considered. Some typical traffic scenarios, including lane-changing, lane-keeping, and collision avoidance have been designed to verify the performance of the proposed algorithm, and simulations demonstrate the validity of this method.
ISSN:	1751-956X 1751-9578
DOI:	10.1049/iet-its.2020.0355