Abstract
For an autonomous driving vehicle, it is important to generate smooth trajectory, which the vehicle can follow. Additionally, in complex environment like urban road, it is necessary to update the trajectory real-timely in response to environment information measured from on-board sensors. In this case, the trajectory must be taken into account with a connectivity of old trajectory. Therefore, in this study, we propose a trajectory generation method considering these assumptions. In this method, the trajectory curvature is parameterized by cubic spline, and optimal trajectory is generated based on non-linear numerical optimization method. From some simulation results, it was confirmed that our method can generate a trajectory adequately smooth and real-timely.
