摘要：AbstractThe development of automated driving is progressing rapidly and with it the need for trajectory planning algorithms. In this work we present a method for collision-avoidance on roads and highways in the presence of moving obstacles, like other traffic participants. The concept of the restricted volume as a static representation of a moving obstacles geometry in spatial-temporal space can be applied for a wide variety of trajectory planning algorithms without resorting to quasi-static approximations. We demonstrate a method of calculating the restricted region in a time extended, road-aligned coordinate system for a moving obstacle with polygonal shape. To show the applicability of this approach, the restricted region is incorporated in a spatial-based nonlinear optimal control problem and implemented on an autonomous test-vehicle. With computing times averaging less than 200 milliseconds the presented method shows its potential for many road traffic situations.
