Conditional branch constraint-oriented intelligent vehicle trajectory planning problem modeling system

The invention discloses a conditional branch constraint-oriented intelligent vehicle trajectory planning problem modeling system, which comprises the following steps of: reading in external input information, and carrying out necessary preprocessing; determining a decision variable of a trajectory planning problem; determining constraint conditions of the trajectory planning problem; determining a cost function of the trajectory planning problem; and combining the decision variable, the constraint and the cost function constructed in the steps together to form complete trajectory planning problem data, and then outputting the data to a system for downstream use. The intelligent vehicle trajectory planning problem modeling system oriented to the conditional branch constraint systematically solves the modeling problem of smooth (differentiable everywhere) modeling of the conditional branch constraint for the first time, has a theoretical height, and has a very good practical effect in practical engineering prac