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A Solution Applying the Law on Road Traffic into A Set of Constraints to Establish A Motion Trajectory for Autonomous Vehicle

Article history: Received: 12 May, 2020 Accepted: 06 June, 2020 Online: 18 June, 2020 With a model predictive control approach and to set the motion trajectory for an autonomous vehicle in situations where emergency braking cannot be performed, in this paper, we propose a solution to apply the law on road traffic into a set of constraints and thereby build an objective function to create motion trajectory for autonomous vehicle. The newly created trajectory is created to improve performance and enhance the ability to avoid obstacle but ensure an optimal global trajectory. The performance of this solution is assessed through simulation with different scenarios, from which there are applied research orientations on the problem of autonomous vehicle in practice.