An integrated design framework for driver/passenger-oriented trajectory planning

This paper presents an integrated trajectory planning framework for the front wheel steering vehicles that are equipped with digital map systems. It first addresses the importance of the driver and the passengers' requirement for automatic driving. After introducing the concept of optimal driver/passenger-oriented driving performance, several driving performance indices are introduced as following in order to provide a measurement of the automatic driving process. Based on these indices, the whole optimal trajectory planning problem is divided into two incorporated sub problems: the longitudinal trajectory planning problem and the lateral steering trajectory generation problem. Since the driving performance indices are primarily determined by the longitudinal driving procedure of the vehicle, the desired optimal longitudinal trajectory is formulated first. With the obtained velocity setting of the longitudinal trajectory planning problem, the lateral steering trajectory generation problem is solved based on cell mapping method then.