Jerk-Limited Time-Optimal Speed Planning for Arbitrary Paths

Both path and speed planning play key roles in automated driving, specially when a certain comfort level is required. This paper proposes human-like method for already defined paths while minimizing travel time. The proposed able to compute time-optimal profile that meet the given constrains with regard speed, acceleration jerk. For this purpose, an initial acceleration-limited approach introduced. algorithm serves as starting point subsequent jerk-limited planning. Moreover, fallback strategies are included manage critical driving situations where or final conditions cannot be met. has been tested validated experimental platform through extensive trials real environments. Its performance evaluated both terms of quality computed profiles respect required computing