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This paper presents an optimization-based trajectory generation for a four in-wheel motor vehicle in a double lane change maneuver. It features the usage of a three-dimensional dynamical model of the vehicle and the generation of a feasible optimal trajectory satisfying state and input constraints, while still providing smooth lane change movements. Simulation results confirm the viability of the proposed method.

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Trajectory Optimization for a Four In-Wheel Motor Vehicle in Double Lane Change Maneuver

  • 会议论文

  • 发表日期：

    2025年

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  • Huu Thien Nguyen,
  • Manuel C. R. M. Fernandes,
  • Ionela Prodan,
  • Fernando A. C. C. Fontes

摘要

This paper presents an optimization-based trajectory generation for a four in-wheel motor vehicle in a double lane change maneuver. It features the usage of a three-dimensional dynamical model of the vehicle and the generation of a feasible optimal trajectory satisfying state and input constraints, while still providing smooth lane change movements. Simulation results confirm the viability of the proposed method.