Tunable And Stable Real-Time Trajectory Planning For Urban Autonomous Driving

This paper investigates real-time on-road motion planning algorithms for autonomous passenger vehicles (APV) in urban environments, and proposea computationally efficient planning formulation. Two key properties, tunability and stability, are emphasized when designing the proposed planner. The main contributions of this paper are: A computationally efficient decoupled space-time trajectory planning structure.The formulation of optimization-free elastic-band-based path planning and speed-constraint-based temporal planning routines with pre-determined runtime.Identification of continuity problems with previous cost-based planners that cause tunability and stability issues.