  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.
