A continuous motion planning method for connected automated vehicles is considered for generating feasible trajectories in real-time using three consecutive clothoids. The proposed method reduces path planning to a small set of nonlinear algebraic equations such that the generated path can be efficiently checked for feasibility and collision. After path planning, velocity planning is executed while maintaining a parallel simple structure. Key strengths of this framework include its interpretability, shareability, and ability to specify boundary conditions. Its interpretability and shareability stem from the succinct representation of the resulting local motion plan using a handful of physically meaningful parameters. Vehicles may share these parameters via V2X communication so that the recipients can precisely reconstruct the planned trajectory of the senders and respond accordingly. The proposed local planner guarantees the satisfaction of boundary conditions, thus ensuring seamless integration with a wide array of higher-level global motion planners. The tunable nature of the method enables tailoring the local plans to specific maneuvers like turns at intersections, lane changes, and U-turns.

翻译：针对网联自动驾驶车辆，提出一种利用三段连续回旋曲线实时生成可行轨迹的连续运动规划方法。该方法将路径规划简化为少量非线性代数方程，可高效检验生成路径的可行性与碰撞风险。完成路径规划后，以保持并行简单结构的方式执行速度规划。该框架的核心优势包括可解释性、可共享性以及边界条件指定能力。其可解释性与可共享性源于通过少量具有物理意义的参数对局域运动规划结果进行简洁表征。车辆可通过V2X通信共享这些参数，使接收方能够精确重构发送方的规划轨迹并作出相应响应。该局域规划器保证边界条件满足要求，从而确保与各类高层全局运动规划器的无缝集成。方法参数的可调性使其能针对交叉口转弯、车道变换及U型掉头等特定机动动作定制局域规划方案。