Trajectory deformation applied to kinodynamic motion planning for a realistic car model

Providing a safe behavior of a vehicle in every situation is a critical mission in the design of a modern car. To measure this ability, the standard ISO double lane change test was a designed by consumer unions. The detailed simulation of such an active safety issue would contribute to shorten the design cycle time of a vehicle by reducing the number of real world tests. In this paper we discuss the use of a trajectory deformation algorithm to determine a possible motion for a realistic dynamic car model going through such a test, and the way to determine the maximum passage speed. The main idea of this method is to iteratively deform the inputs of the system to progressively reduce the number of collisions while respecting the dynamic constraints. This deformation is calculated for each iteration by taking into account a locally linearized dynamic model of the system. Consequently, this algorithm can anticipate correctly the inputs needed to solve the future collisions