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24 April 2024

» arxiv » 2009.11135

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DL-IAPS and PJSO: A Path/Speed Decoupled Trajectory Optimization and its Application in Autonomous Driving
Jinyun Zhou ; Runxin He ; Yu Wang ; Shu Jiang ; Zhenguang Zhu ; Jiangtao Hu ; Jinghao Miao ; Qi Luo ;
Date:	23 Sep 2020
Abstract:	This paper presents a free space trajectory optimization algorithm of autonomous driving vehicle, which decouples the collision-free trajectory planning problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) and a Piece-wise Jerk Speed Optimization (PJSO). The work leads to remarkable driving performance improvements including more precise collision avoidance, higher control feasibility and better driving comfort, as those are often hard to realize in other existing path/speed decoupled trajectory optimization methods. Our algorithm’s efficiency, robustness and adaptiveness to complex driving scenarios have been validated by both simulations and real on-road tests.
Source:	arXiv, 2009.11135
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