Optimal Trajectory Planning with Dynamic Constraints for Autonomous Vehicle

Trajectory planning with high accuracy is one of the key technologies of autonomous vehicles to travel safely on public roads. In this paper, we investigate the dependence of the path and velocity interactive planning based on cubic polynomial with vehicle dynamic as well as kinematic constraints including lateral acceleration and road curvature. The effect due to the vehicle dynamics of the host car by ignoring dependence states is studied through the comparison of longitudinal acceleration data in a simulation study and on-road test. Results show that our proposed methodology is more safety and comfort than the one without considering the dependency.