Motion Planning for Autonomous Vehicles Based on Sequential Optimization

This study presents the development and analysis of a technique for planning autonomous vehicle (AV) motion references using sequential optimization. The method determines trajectory plan, speed acceleration distributions, other AV kinematic parameters. approach combines basics finite element (FEM) nonlinear optimization with constraints. First, we briefly described generalization representing an arbitrary function by elements (FE) within road segment. We chose one-dimensional FE two nodes three degrees freedom (DOF) in node corresponding to 5th-degree polynomial. Next, presented defining trajectory. following are considered: formation restricted space AV’s allowable maneuvering, geometry its relation steerability parameters, cost functions their influences on desirable trajectory’s nature, compliance restrictions parameters area boundaries. In second stage, derived optimizing redistributions. model considers possible combinations objective functions, limiting tire slip critical speed, maximum level, longitudinal acceleration, lateral acceleration. simulation section, compared several variants trajectories versions distributing curves. advantages, drawbacks, conclusions regarding proposed presented.