Vehicle Trajectory Planning for Collision Avoidance with Mobile Obstacles

Travelling on crowded roads, vehicles usually move in a dynamic environment where, fixed and mobile obstacles can be detected. This paper proposes a solution for a trajectory planner that can be used to compute paths so that, both fixed and mobile obstacles can be overpassed. The trajectory planner, based on the information from sensors regarding the distance to the other vehicles, computes the time moments when the vehicle has to overpass the obstacles. The generated trajectory is a time function that, based on these time moments, leads the vehicle to avoid a collision with the obstacles. The proposed trajectory planner is tested in three scenarios, where the obstacles are fixed or mobile. The results prove the effectiveness of the proposed trajectory planning solution.