Highly automated vehicles have the potential to provide a variety of benefits eg, decreasing
traffic injuries and fatalities by offering people the freedom to choose how to spend their time
in their vehicle without jeopardizing the safety of themselves or other traffic participants.
Since smooth and safe trajectory planning is essential for successfully commercialization of
automated vehicles, this paper presents a low-complexity trajectory planning algorithm in
the Model Predictive Control (MPC) framework. In particular, the proposed algorithm …