Environment Modeling for the Application in optimization-based Trajectory Planning

Abstract

The paper at hand proposes an environment model for trajectory planning in structured environments. It is composed of a static and a dynamic environment model. The generated static potential field takes restrictions imposed by the static environment into account. The dynamic environment model is based on the physical interpretation of the required safety distance. By the use of an advanced obstacle trajectory prediction method, the safety distance is calculated in accordance to the predicted situation. As the safety distance affects the dynamic potential field, information provided by the obstacle trajectory prediction is directly considered in the ego vehicle trajectory planning process. On account of the predictive character of the developed environment potential field, simulation experiments demonstrate the feasibility and effectiveness of the proposed method.