IJCAS

The trajectory planning plays an important role in realizing the autonomous driving process. The trajectory that reflects the driving habits of human drivers and conforms with people’s driving intuition enables a vehicle to operate smoother and more comfortable when passing through corners, which could improve the acceptability of autonomous vehicles in the market in the future. The research of this paper focuses on planning a human driving characterised trajectory along a road based on the test track that could reflect natural driving behaviour in corners considering the sense of natural and comfortable for the occupants. Firstly, the data collected of the test track are processed and the coordinate system transformation is completed, and the human tested trajectories in the test track is extracted and analysed. Then, the human driving characterised trajectory planning is completed based on optimal control in a lane section on the test track. The trajectory tracking control algorithm based on LQR is designed, and a CarSim/Simulink co-simulation platform is established to track the optimal trajectory generated in a lane and the lane centreline trajectory to verify the superiority of the planned trajectory. The results show that compared with the centreline trajectory, the human driving characterised trajectory planned enables the autonomous vehicle operates smoother and more comfortable, and reflects the characteristic of human drivers to a large extent.

Keywords: Autonomous vehicle, curvilinear coordinates system, human driving characterised trajectory, LQR, optimal control, trajectory planning and tracking.