A Survey of Models and Methods for Autonomous Vehicles’ Trajectory Planning

The trajectory planning of autonomous vehicles (AVs) has received extensive attention from relevant researchers. This paper makes a systematic survey of the trajectory planning of AVs. Not only did it describe the trajectory planning problem of vehicles on structured roads and intersections, but it also summarized the AVs’ trajectory planning problem of vehicles in unstructured spaces such as slopes, shoulders, sharp turns, and parking, which has not been fully studied. Therefore, this paper focuses on the trajectory planning of autonomous vehicles in unstructured space. At the same time, the trajectory planning problems of some special vehicles such as mining vehicles and autonomous racing cars have also been summarized. This article not only summarizes the existing AVs’ trajectory planning scenarios and methods but also systematically describes the entire AV vehicle planning model.