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This paper presents a free space trajectory optimization algorithm ofautonomous driving vehicle, which decouples the collision-free trajectoryplanning problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS)and a Piece-wise Jerk Speed Optimization (PJSO). The work leads to remarkabledriving performance improvements including more precise collision avoidance,higher control feasibility and better driving comfort, as those are often hardto realize in other existing path/speed decoupled trajectory optimizationmethods. Our algorithm's efficiency, robustness and adaptiveness to complexdriving scenarios have been validated by both simulations and real on-roadtests.

DL-IAPS and PJSO: A Path/Speed Decoupled Trajectory Optimization and its Application in Autonomous Driving