A Real-Time Motion Planner with Trajectory Optimization forAutonomous Vehicles论文解读

1：Contribution

1：trajectories generated by the planner are smooth and continuous.

2: the search for an optimal trajectory is accelerated by efficient path and speed discretization.

3: the real-time performance is improved by iteratively optimizating in both path and speed space.

2: Trajectory generation

2.1 path generate

Paths are generated by connecting sampled endpoints using different kinds of curvature polynomials.

         road center line:

                 

        end points:

 

 2.2 speed generation

3 Cost function set 

 

 4 Trajectory optimization

    4.1 Path optimization

4.2 Speed optimization

速度离散化及其端点处的加速度约束会限制速度曲线的最佳性。与路径优化类似，优化速度剖面节点的参数。