自動運転経路計画arXiv:2209.09026
反復と三重最適化に基づく自動運転経路計画
Automatic driving path plan based on iterative and triple optimization method
2次元空間・走行経路・走行速度の三重最適化を時間方向に反復し、複雑・中高速シーンでの自動運転経路計画を実現する手法を提案。
著者: Yang Yinyang, Wang Chanchan
分類: cs.RO, math.OC
原文アブストラクト
This paper presents a triple optimization algorithm of two-dimensional space, driving path and driving speed, and iterates in the time dimension to obtain the local optimal solution of path and speed in the optimal driving area. Design iterative algorithm to solve the best driving path and speed within the limited conditions. The algorithm can meet the path planning needs of automatic driving vehicle in complex scenes and medium and high-speed scenes.