A Predictive Control Solution for Contingency Motion Planning for Autonomous Vehicle

With a model-based prediction control approach to generate optimal trajectory and avoid collision in many situations that cannot perform emergency braking, this paper proposes a solution to optimal path planning and safety assurance to avoid collision for autonomous vehicle by identifying the possible motion trajectories of the vehicles ahead when participating in traffic. The safety factor to avoid collision is performed in each motion phase of the vehicle, with the development of a nonlinear constraint between the brake and the steering angle for the vehicle's contingency motion planning. The efficiency of this solution is evaluated through assumpted simulations with different scenarios, then there are orientations toward applied research on the problem of autonomous vehicles in reality.