Trajectory Planning with Velocity Planner for Fully-Automated Passenger Vehicles

For fully-automated passenger vehicles, trajectory planning that produce smooth trajectories, with respect to the comfort of human body, is required. An approach that consists of introducing a velocity planning stage to generate adequate time sequences to be used in the interpolating curve planner, is proposed. The generated speed profile can be merged into the trajectory for usage in trajectory-tracking tasks or it can be used for path-following tasks. Moreover, this paper presents design and simulation evaluation of trajectory-tracking and path-following controllers for autonomous vehicles based on sliding mode control