**Human-Like Obstacle Avoidance Trajectory Planning and Tracking Model for Autonomous Vehicles That Considers the Driver's Operation Characteristics**

#### **Qinyu Sun, Yingshi Guo \*, Rui Fu, Chang Wang and Wei Yuan**

School of Automobile, Chang'an University, Xi'an 710064, China; sunqinyu@chd.edu.cn (Q.S.); furui@chd.edu.cn (R.F.); wangchang@chd.edu.cn (C.W.); yuanwei@chd.edu.cn (W.Y.)

**\*** Correspondence: guoys@chd.edu.cn

Received: 22 July 2020; Accepted: 25 August 2020; Published: 26 August 2020

**Abstract:** Developing a human-like autonomous driving system has gained increasing amounts of attention from both technology companies and academic institutions, as it can improve the interpretability and acceptance of the autonomous system. Planning a safe and human-like obstacle avoidance trajectory is one of the critical issues for the development of autonomous vehicles (AVs). However, when designing automatic obstacle avoidance systems, few studies have focused on the obstacle avoidance characteristics of human drivers. This paper aims to develop an obstacle avoidance trajectory planning and trajectory tracking model for AVs that is consistent with the characteristics of human drivers' obstacle avoidance trajectory. Therefore, a modified artificial potential field (APF) model was established by adding a road boundary repulsive potential field and ameliorating the obstacle repulsive potential field based on the traditional APF model. The model predictive control (MPC) algorithm was combined with the APF model to make the planning model satisfy the kinematic constraints of the vehicle. In addition, a human driver's obstacle avoidance experiment was implemented based on a six-degree-of-freedom driving simulator equipped with multiple sensors to obtain the drivers' operation characteristics and provide a basis for parameter confirmation of the planning model. Then, a linear time-varying MPC algorithm was employed to construct the trajectory tracking model. Finally, a co-simulation model based on CarSim/Simulink was established for o ff-line simulation testing, and the results indicated that the proposed trajectory planning controller and the trajectory tracking controller were more human-like under the premise of ensuring the safety and comfort of the obstacle avoidance operation, providing a foundation for the development of AVs.

**Keywords:** autonomous vehicle; obstacle avoidance; artificial potential field; model predictive control; human-like
