both spatial and temporal planning for highly dynamic environments; 2) Nonlinear vehicle
models and non-convex collision avoidance constraints. 3) High computational efficiency for
real-time implementation. Iterative Linear Quadratic Regulator (ILQR) is an algorithm which
solves predictive optimal control problem with nonlinear system very efficiently. However, it
can not deal with constraints. In this paper, the Constrained Iterative LQR (CILQR) is …