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Trajectory planning is one of the key and challenging tasks in autonomous driving. This paper proposes a novel method that dynamically plans trajectories, with the aim to achieve quick and safe reaction to the changing driving environment and optimal balance between vehicle performance and driving comfort. With the proposed method, such complex maneuvers can be decomposed into two sub-maneuvers, i.e., lane change and lane keeping, or their combinations, such that the trajectory planning is generalized and simplified, mainly based on lane change maneuvers. A two fold optimization-based method is proposed for stationary trajectory planning as well as dynamic trajectory planning in the presence of a dynamic traffic environment. Simulation is conducted to demonstrate the efficiency and effectiveness of the proposed method.
Zhang et al. (Tue,) studied this question.