Model predictive control for vehicle emergency motion planning based-on flatness

In this paper, we consider the vehicle online motion planning for the avoidance of emergency situations under structured environment as the object of our researching. In the framework of MPC, a motion planning method based on flatness is proposed. Based upon the descriptions and definitions of structured environment, trajectory planning algorithms and strategy are presented. In order to satisfy feasibility and safety, vehicle dynamics constraints are taken into account. The simulation results illustrate that the effect is satisfying.