Trajectory Planning for a vehicle (Model Predictive Control)

Hello,

Although, I´ve done some research on the topic, I am still relatively new to Trajectory planning. Hopefully someone can help me with the problem, that I am currently having.

I would like to create a simplified simulink model for a Trajectory planner, which would allow an ego-vehicle to follow a simple refence path (The reference path is theoretical, which means, that it´s coordinates are initially not known). The vehicle could be presented as a bicycle model with a constant speed (low speed).

At this moment I consider to use MPC(Model predictive control) similar to: https://www.youtube.com/watch?v=4IO1zxsY4wU , but without the visualisation. As in the visual representation, the vehicle is not per se placed on the path and is only able to recognize the path at a certain distance. Thus the trajectory planning should only be able to compute a feasible trajectory within a certain distance.

Following constraints should be considered:

• Obstacle recognition and avoidance (recognition at same distance, as path recognition and trajectory replanning)
• Bicycle Model constraints (maximum steering angle)
• (secondary) Avoidance of jerky movements

Following inputs/outputs should be implemented:

• inputs: the vehicle state (X,Y, Yaw, Yaw rate) , reference Path state (X, Y, curvature)
• outputs: yaw, yaw rate

I am very thankful for any helpful advice on this topic!

Best Regards!

[Ihsan]

Hi Alexander,

i have seen your text right now and it sounds like what i wanna do. You says you have inputs: the vehicle state (X,Y, Yaw, Yaw rate) and reference Path state (X, Y, curvature). How do you get the vehicle state in that form. Don`t you get Gps-Coordinates from the car? I am also doing a project like yours but i am getting only the Gps-Coordinates from the car and i don`t know how to achive a path planning and control with Gps-Coordinates. Can you please help me?

Thanks!

Answer 1

[Githin John]

THis example describes what you want to achieve:

https://www.mathworks.com/help/mpc/ug/obstacle-avoidance-using-adaptive-model-predictive-control.html

[Alexander Maier]

This is helpful, thank you