A Real-Time Dynamic Trajectory Planning for Autonomous Driving Vehicles

This paper presents a real-time dynamic trajectory planning algorithm that provides an optimal trajectory along with appropriate acceleration and speed for autonomous driving vehicles. To this end, a center line is first constructed based on a group of predesigned center waypoints that are generally used as a reference line. Then, a limited number of path candidates are generated by the arc length and offset to the center line in the Frenet coordinate system, and the speed space is discretized using polynomial functions. The optimal path trajectory is determined considering the objectives of safety, smoothness, comfortability and consistency, together with the associated acceleration and speed identified. The simulation results verifies the effectiveness of the proposed approach.