文章目录 AbstractI. INTRODUCTIONA. Multilane StrategyB. Path-Speed Iterative AlgorithmC. Decisions and Traffic Regulations II. EM PLANNER FRAMEWORK WITH MULTILANE STRATEGYIII. EM PLANNER AT LANE LEVELA. SL and ST Mapping (E-step)B. M-Step DP PathC. M-Step …
文章目录 前言PIECEWISE_JERK_SPEED_OPTIMIZER功能简介PIECEWISE_JERK_SPEED_OPTIMIZER相关配置PIECEWISE_JERK_SPEED_OPTIMIZER流程QP问题的标准类型定义:优化变量设计目标函数约束条件相关矩阵二次项系数矩阵 H H H一次项系数向量 q q q设定OSQP求解参数 Process设…
文章目录 I. INTRODUCTIONII. CONSIDERATIONS FOR HIGHWAY MOTION PLANNINGA. TerminologyB. Motion Planning SchemeC. Specificities of Highway DrivingD. Constraints on Highway DrivingE. What Is at Stake in this Paper III. STATE OF THE ARTA. Taxonomy DescriptionB…
论文题目:Baidu Apollo EM Motion Planner
0 前言 EM和Lattice算法对比
EM plannerLattice Planner参数较多(DP/QP,Path/Speed)参数少且统一化流程复杂流程简单单周期解空间受限简单场景解空间较大能适应复杂场景适合简单场景
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文章目录 Summary1. INTRODUCTION2. MOTION PLANNING AND CONTROL2.1. Vehicle Dynamics and Control2.2. Parallel Autonomy2.3. Motion Planning for Autonomous Vehicles 3. INTEGRATED PERCEPTION AND PLANNING3.1. From Classical Perception to Current Challenges in Ne…