*Article* **Space Discretization-Based Optimal Trajectory Planning for Automated Vehicles in Narrow Corridor Scenes**

**Biao Xu 1,2, Shijie Yuan 1, Xuerong Lin 1, Manjiang Hu 1,2,\* , Yougang Bian 1,2 and Zhaobo Qin 1,2**


**Abstract:** The narrow corridor is a common working scene for automated vehicles, where it is pretty challenging to plan a safe, feasible, and smooth trajectory due to the narrow passable area constraints. This paper presents a space discretization-based optimal trajectory planning method for automated vehicles in a narrow corridor scene with the consideration of travel time minimization and boundary collision avoidance. In this method, we first design a mathematically-described driving corridor model. Then, we build a space discretization-based trajectory optimization model in which the objective function is travel efficiency, and the vehicle-kinematics constraints, collision avoidance constraints, and several other constraints are proposed to ensure the feasibility and comfortability of the planned trajectory. Finally, the proposed method is verified with both simulations and field tests. The experimental results demonstrate the trajectory planned by the proposed method is smoother and more computationally efficient compared with the baseline methods while significantly reducing the tracking error indicating the proposed method has huge application potential in trajectory planning in the narrow corridor scenario for automated vehicles.

**Keywords:** automated vehicle; trajectory planning; narrow corridor scene; space discretization strategy
