US Patent 10990099 Motion planning methods and systems for autonomous vehicle

Disclosed herein are methods and systems for motion planning in an autonomous vehicle (AV) that separate path planning and velocity planning and may use reference lines in combination with motion planners to determine paths. The method may include reference lines to project planning data into a S-L coordinate system. A motion planner algorithm uses the reference lines and previous path planning history to generate a path in the S-L coordinate system. A velocity is determined for the path. An AV controller is updated with the path and the velocity. Motion planning computations use a dynamic vehicle look-up table to determine possible vehicle motions based on an initial state and control input.