Abstract

三大特点:
(1) The top layer of the system is a multilane strategy that handles lane-change scenarios by comparing lane-level trajectories computed in parallel.
(2) Inside the lane-level trajectory generator, it iteratively solves path and speed optimization based on a Frenet frame.
(3) For path and speed optimization, a combination of dynamic programming and spline-based quadratic programming is proposed to construct a scalable and easy-to-tune framework to handle traffic rules, obstacle decisions and smoothness simultaneously.

本文参考 Apollo 的算法, 实现了对 5 次 Spline 样条曲线光滑算法的 Demo.

Basic info

Author: Yu Zhang
Date: 2018
Juounal: IEEE Acess
Institute: 北理

Abstract

共四方面贡献:

1. trajectory planning framework: 克服 geometry constraints(free space), nonholonomic constraints(vehicle kinematics and dynamics) and dynamics constraints, task constraints (requirements to visit certain intermediate targets)实现 curvature continuous , kinodynamically feasible, smooth and collision-free trajectories in real-time.
2. derivative-free global path modification algorithm to extract high-order state information in free space for state sampling.
3. multi-phase deterministic state space sampling method that is able to approximate complex maneuvers.
4. car footprint approximation strategy and a two-phase collision checking routine.
   后面这些名词概念都会得到详细解释.