This question about using MPC for obstacle avoidance may not be directly related to your specific method, but it is important to me：How is the reference path tracked by MPC generated?

[MandyZhang4869]

Hello, I have a question.
This question about using MPC for obstacle avoidance may not be directly related to your specific method, but it is important to me, and I've been troubled by it for a long time.

It's about using MPC for obstacle avoidance. As far as I know, MPC typically requires a specified reference path. I'd like to inquire about how the reference path is generated in your approach. Also, is this reference path independent of obstacles, such as pedestrians you are concerned about? It's okay if obstacles are present in the generated reference trajectory, and collision risk can be avoided through optimization constraints, is that correct?

looking forward to your reply！！！！！！！thank you