Automated Driving, a Question of Trajectory Planning

In the field of automotive and autonomous mobility, this chapter considers that planning can be taken as a term used in a generic manner, partially encompassing control, but also trajectory planning and route planning. Trajectory planning constitutes an intermediate scale between route planning, going from an origin to a destination and control planning, which involves setting up the actuator controls which will make it possible to follow a given trajectory. There are many planning methods for indoor and outdoor mobile robotics. The main contribution of artificial intelligence to autonomous driving is its ability to reproduce and simulate the reasoning and learning abilities of drivers. The decision module directly integrates most of the legal and regulatory aspects of safety when generating speed profiles and ego‐vehicle trajectories. Multi‐objective trajectory planning tries to find a compromise when several conflicting objectives must be managed at the same time.