Reference velocity estimation method for on-road unmanned ground vehicle

The proposed method generates a safe global trajectory with reference velocities for a on-road unmanned ground vehicle to navigate in outdoor environments such as highways or roads. It generates a trajectory from a given global path consist of sparse waypoints without abrupt heading direction changes and estimates reference velocities to follow the given global path without slippages. It was implemented to verify that it can generate a safe trajectory with reference velocities using a data set acquired in a real outdoor environment.