6. Conclusion

In this chapter, a dynamically integrated spatiotemporal-based trajectory planning and control method for the off-road autonomous vehicles is proposed. The upper-level trajectory planner can select the best time-parameterised trajectory among a group of the candidate trajectories by considering the road topography information. Then, the lower-level trajectory controller can control the motion of the vehicle and achieve the desired trajectory.

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Simulation results have proved that the proposed trajectory planning and control method can successfully control the motion of autonomous vehicles and achieve the spatiotemporal-based desired trajectory while satisfying the target ending position and velocity. In the highway scenario, the proposed method has better overall position tracking control performance and can better achieve the desired longitudinal and lateral velocity compared with the conventional potential field method. In addition, the 4WIS-4WID vehicle shows better tracking control performance than traditional vehicle based on two-wheel model.

In the off-road scenario, the proposed trajectory planning method can successfully find a specific trajectory which can avoid the peak values of bank angle and road slope. Simulation results prove that the proposed trajectory planner when considering the road topography information can generate the trajectory with much smaller bank angle and road slope compared with trajectory generated by traditional trajectory planner. The actual trajectory tracking performance, roll stability and pitch stability performance can be improved by using the proposed trajectory planning method to minimise the effect of road topography on vehicle dynamics.
