I understand you want to model an autonomous vehicle moving on its own and moving around obstacles, you can use Model predictive control (MPC), it is a discrete-time multi-variable control architecture. At each control interval, an MPC controller uses an internal model to predict future plant behaviour. Based on this prediction, the controller computes optimal control actions. To simplify the initial development of automated driving controllers, Model Predictive Control Toolbox™ software provides Simulink® blocks for adaptive cruise control, lane-keeping assistance, path following, and path planning. These blocks provide application-specific interfaces and options for designing an MPC controller.
For more information, you can refer to the documentation link below:
