G2 smooth, curvature constrained, local motion planning for automated vehicles

A new local motion planning method for automated vehicles in structured road scenarios is considered. Utilizing three consecutive clothoids, it is shown that real time generation of feasible trajectories for automated vehicles is possible. Separate path generation and consecutive velocity planning is considered. The path planning is reduced to a small set of nonlinear algebraic equations, while the velocity planning comprised of forward, backward and joint iteration processes. By varying some continuous parameters, multiple feasible plans can be generated and one of those can be chosen based on multiple criteria. A left turn at an intersection is used as an illustrative example.