A dynamic velocity planning method for autonomous vehicle is proposed to plan a best speed curve of a host vehicle. An information storing step includes driving a memory to store obstacle information of an obstacle, road information and vehicle information. An acceleration limit calculating step includes calculating the vehicle information according to a calculating program to generate an acceleration limit value range. Anacceleration combination generating step includes generating a plurality of acceleration combinations according to the obstacle information, the road information, and the acceleration limit value range. An acceleration filtering step includes filtering the acceleration combinations according to a jerky threshold to obtain a selected acceleration combination. An acceleration smoothing step includes performing a driving behavior program to adjust the selected acceleration combination to generate the best speed curve. Therefore, the present disclosure can adapt to environmental changes by considering vehicle operating limits, vehicle dynamics and human driving behavior.

Applied Country	Category	專利狀態	證書號	專利權期間	研究成果公告日期
TW	Intelligence and safety	獲證	I740634	2021/09/21~2040/09/07