Trajectory planning

1. A method for planning a trajectory for an autonomous vehicle, comprising:

determining, by a trajectory planner of the autonomous vehicle, a coarse driveline from a first location to a second location, wherein determining the coarse driveline comprising:

obtaining driveline data comprising first data relating to a first segment from the first location to the second location and second data relating to a second segment from the first location to the second location; and

concatenating the first data and the second data;

determining, by the trajectory planner, a strategic speed plan for the coarse driveline;

removing, by the trajectory planner, lateral discontinuities in the coarse driveline based on the strategic speed plan to generate an adjusted coarse driveline; and

generating, by the trajectory planner, lateral constraints around the adjusted coarse driveline and a discrete-time speed plan based on observed objects.

2. The method of claim 1 ,

wherein the first segment being different from the second segment, and

wherein the first data being HD map data and the second data being recoded path data.

3. The method of claim 1 , wherein the first data comprises HD map data and teleoperation data.

4. The method of claim 1 , wherein determining the strategic speed plan for the coarse driveline comprises:

using speed limits and acceleration limits to determine the strategic speed plan.

5. The method of claim 4 , wherein the speed limits comprise at least one of road speed limits, curvature speed limits, and seamless autonomous mobility data, wherein the seamless autonomous mobility data are data collected from other vehicles.

6. The method of claim 5 , wherein the seamless autonomous mobility data are received at the autonomous vehicle from a networked server.

7. The method of claim 4 , wherein the acceleration limits comprise at least one of vehicle acceleration limits and comfort limits.

8. The method of claim 1 , wherein removing the lateral discontinuities in the coarse driveline comprising:

synthesizing a driveline for merging from a first lane to a second lane.

9. The method of claim 1 , wherein generating the discrete time speed plan comprising:

constraining the adjusted strategic speed plan based on the observed objects by:

determining boundaries of a drivable area based on static objects; and

applying a constraint based on a classification of a dynamic object.

10. An autonomous vehicle comprising:

a memory; and

a processor configured to execute instructions of a trajectory planner stored in the memory, the trajectory planner configured to:

determine a coarse driveline from a first location to a second location, wherein to determine the coarse driveline comprises to:

obtain driveline data comprising first data relating to a first segment from the first location to the second location and second data relating to a second segment from the first location to the second location; and

concatenate the first data and the second data;

determine a strategic speed plan for the coarse driveline;

adjust the coarse driveline to remove lateral discontinuities, to generate an adjusted coarse driveline, based on the strategic speed plan; and

generate lateral constraints around the coarse driveline and a discrete time-speed plan based on observed objects.

11. The autonomous vehicle of claim 10 ,

wherein the first segment being different from the second segment, and

wherein the first data being HD map data and the second data being recoded path data.

12. The autonomous vehicle of claim 10 , wherein the first data comprises HD map data and teleoperation data.

13. The autonomous vehicle of claim 10 , wherein to determine the strategic speed plan for the coarse driveline comprises to:

use speed limits and acceleration limits to determine the strategic speed plan.

14. The autonomous vehicle of claim 13 , wherein the speed limits comprises at least one of road speed limits, curvature speed limits, and seamless autonomous mobility data, wherein the seamless autonomous mobility data are data collected from other vehicles.

15. The autonomous vehicle of claim 14 , wherein the seamless autonomous mobility data are received at the autonomous vehicle from a networked server.

16. The autonomous vehicle of claim 13 , wherein the acceleration limits comprises at least one of vehicle acceleration limits and comfort limits.

17. The autonomous vehicle of claim 10 , wherein to adjust the coarse driveline, to generate the adjusted coarse driveline, based on the strategic speed plan comprises to:

synthesize a driveline for merging from a first lane to a second lane.

18. The autonomous vehicle of claim 10 , wherein to generate the discrete time-speed plan comprises to:

constrain the adjusted strategic speed plan based on the observed objects, wherein to constrain the adjusted strategic speed plan based on the observed objects comprises to:

determine boundaries of a drivable area based on static objects; and

apply a constraint based on a classification of a dynamic object.