AUTONOMOUS VEHICLE TRAJECTORY GENERATION AND MOTION CONTROL

An example method includes obtaining road data, vehicle state data, and platform limit data associated with an autonomous vehicle; generating a velocity profile and a lateral profile associated with the autonomous vehicle based on the road data, vehicle state data, and platform limit data; generating a plurality of initial candidate trajectories for the autonomous vehicle based on the velocity profile and the lateral profile; determining, from among the plurality of initial candidate trajectories, a selected trajectory for the autonomous vehicle; and providing one or more instructions to control a motion of the autonomous vehicle in accordance with the selected trajectory.