Synthesis and Application of Constrained Flatness-Based Real-Time Trajectory Planning for Autonomous Emergency Steering

The contribution of this paper is the synthesis of a constrained real-time trajectory planning approach for Autonomous Emergency Steering (AES) and its application in a demonstrator vehicle of the SAFE-UP project. The proposed concept consists of two core elements. The first element is a model-based trajectory planner which takes into account both state and input constraints. The second element is a sampling-based optimization algorithm that embeds the planner and performs an online optimization of AES trajectories. After the synthesis of the core elements, the resulting planner is discussed and demonstrated both in a simulation study and a vehicle testing campaign on a test track, where the algorithm is set up to perform a cyclic trajectory re-planning during an AES maneuver.