Real-time dynamic trajectory planning for highly automated driving in highways

This paper presents the implementation of two methods for real-time trajectory planning in a dynamic environment applied to highly automated driving in a highway scenario. Both methods have been implemented for the HAVEit European project. The first method follows the Partial Motion Planning approach, and the second method uses 5
^th
degree (quintic) polynomials to generate a detailed spatio-temporal description of a trajectory to be performed. Both implementations are integrated in a simulation environment and in an experimental research vehicle within HAVEit. Results and evaluations of the trajectory planning algorithms are presented.