A Safe Trajectory Planning Method for Multi-Axle Special Vehicles with Considering Obstacle Avoidance Stability

To cope with the instability and rollover during high-speed maneuvering for five-axle vehicle, the five-axle vehicle with automatic transmission function was taken as study object to consider the obstacle avoidance stability of the driving vehicle and generate a safe driving trajectory. Firstly, a vehicle dynamics and high fidelity model was established based on the assumption of the single track for verification of vehicle model. Then, a vehicle collision risk model and an obstacle avoidance stability model were established to consider the motion state of multi-axle vehicles and the surrounding vehicles. Finally, a safe and stable driving trajectory was generated based on the model predictive control (MPC) method. The simulation results show that the designed trajectory planner can reduce the risk of driving collision, effectively restrain the yaw and roll of the vehicle when driving, and realize the safe and stable driving of the special vehicle.