{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/jerk-constrained-velocity-planning-for-an","title":"Jerk Constrained Velocity Planning for an Autonomous Vehicle: Linear Programming Approach","arxiv_id":"2202.10029","date":"2022-02-21","proceeding":null,"authors":["Yutaka Shimizu","Takamasa Horibe","Fumiya Watanabe","Shinpei Kato"],"abstract":"Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined by the traffic rules; comfort of the passengers. In order to achieve these goals, the jerk and dynamic objects should be considered, however, it makes the problem as complex as a non-convex optimization problem. In this paper, we propose a linear programming (LP) based velocity planning method with jerk limit and obstacle avoidance constraints for an autonomous driving system. To confirm the efficiency of the proposed method, a comparison is made with several optimization-based approaches, and we show that our method can generate a velocity profile which satisfies the aforementioned requirements more efficiently than the compared methods. In addition, we tested our algorithm on a real vehicle at a test field to validate the effectiveness of the proposed method.","url_abs":"https://arxiv.org/abs/2202.10029v1","url_pdf":"https://arxiv.org/pdf/2202.10029v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"jerk-constrained-velocity-planning-for-an","repo_url":"https://github.com/pflab-ut/jerk_optimal_velocity_planning","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}