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Abstract
The continuity and the constantness of both the curvature and the velocity in a trajectory are essential for the vehicle trajectory design from the viewpoint of the followability. This paper presents a new method of generating a vehicle trajectory whose curvature and velocity continuously change while both are constant in large part. The generated trajectory is called a circular-clothoid trajectory defined as the trajectory connecting circular curves with clothoid curves. In the method, the trajectory generation problem is formulated as an L1/L2-optimal control problem for front-steering vehicles. The desired trajectory is obtained numerically by solving a two-point boundary value problem that is relevant to the optimal control problem. The effectiveness of the proposed method is confirmed through some examples.