This paper presents a new constrained trajectory generation method dedicated to Advanced Driver Assistance Systems (ADAS). Based on the information provided by the digital map database of a navigation system, and considering different constraints related to the road profile, the vehicle and the driver, a convex optimization algorithm generates specific Spline-based trajectories. Characteristically, these trajectories are safe, they stay within the traffic lane borders, at the same time minimize an energy criterion along the path, and finally, they are curvature continuous. The present solution has been tested on several roads and the results show the efficiency of the energy constrained trajectory generation method.
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