Vehicle Dynamics Trajectory Planning: Minimum Violation Planning Modifications Reducing Computational Time

State trajectory planning is recently one of the main challenges for self-driving/autonomous vehicles technology. The Minimum Violation Planing (MVP) approach provides a reliable and user intuitive framework for states trajectory planning. It provides possibility of various logic constraints, boundary conditions, dynamic constraints, and many others. The MVP is revisited in this paper with a special focus on the time efficiency of the algorithm. Two modifications of the MVP reducing the calculation time while not significantly compromising the trajectory quality are proposed in this paper. The vehicle yaw, yaw rate, north and east position, velocity, and battery state of charge variables planning is selected to compare the proposed planning framework modifications. The presented modifications and the original MVP algorithm are compared in selected test scenario, where significant calculation time reduction is shown while the plan optimality is not affected remarkably.