Generic Trajectory Planning Algorithm for Urban Autonomous Driving

In this paper, a new local planning algorithm for urban autonomous driving is presented. Our main contribution is to define a fully algorithmic method, based on a geometrical representation of the environment, to compute predictive speed profiles on multiple paths, to ensure safety and comfort with respect to the scene and its predicted evolution. Simulation results are provided to evaluate the behaviour of the proposed algorithm on various scenarios. Those results show a good, comfortable and safe reaction of the vehicle to its static and dynamic environment with processing times compatible with real-time control.