Motion planning for an autonomous vehicle driving on motorways by using flatness properties

In this paper, a motion planning algorithm based on differential flatness for an autonomous vehicle driving in a structured environment with moving obstacles is presented. A descriptions of the structured environment and definitions of safety and availability of the lane are proposed. In order to ensure that the trajectory is feasible and effective, dynamic longitudinal and lateral acceleration constraints are taken into account. Simulation results are validated by measurements of the outputs of a 14 degrees of freedom vehicle dynamics model with the generated trajectory as inputs.