百度Apollo无人驾驶进阶课程 | [https://www.bilibili.com/video/BV1bW4y187MQ/?spm_id_from=333.337.search-card.all.click&vd_source=36f972a7aed71b3b0a9139830875852b](https://www.bilibili.com/video/BV1bW4y187MQ/?spm_id_from=333.337.search-card.all.click&vd_source=36f972a7aed71b3b0a9139830875852b) |
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Apollo将L1~L5划分得比较简明:
高精地图 | 跟用于确定AB点之间怎么走的导航地图不同,高精地图一般达到车道线的精度,而且在其中会带入如红绿灯、各种交通标志,甚至一些静态障碍物。 |
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自动驾驶级别 | 基于SAE划分的级别,简单来说,L1是ACC这种控制纵向的功能; L2是车道保持,能控制横纵向; L3是换道,能自主变道; L4是ODD范围内全自动驾驶; L5是完全自动驾驶。 |
定位 | GPS+IMU+几何定位 = 融合定位 |
安全 | 车辆的功能安全标准ISO26262,以及无人驾驶需要额外覆盖的cyber security |
L2和L3的鸿沟 | 事关出了矛盾和疑惑时,车到底要不要control,还是交给人去control,保守策略对这两种是不同的。 |
sl坐标的唯一性 | l小于转弯半径 |
超平面分割定理 | |
拉格朗日、松弛变量 | |
kkt | |
active set method | Find a feasible starting point 。repeat until “optimal enough”。 solve the equality problem defined by the active set (approximately) compute the Lagrange multipliers of the active set remove a subset of the constraints with negative Lagrange multipliers search for infeasible constraints。 end repeat |
qp书籍 | Convex Optimization (Stephen Boyel) [https://www.bilibili.com/video/av244268259/?vd_source=36f972a7aed71b3b0a9139830875852b](https://www.bilibili.com/video/av244268259/?vd_source=36f972a7aed71b3b0a9139830875852b) |
Numerical optimization (Steve w) |
Motion Planning Approaches
- From robotics to autonomous driving
- Modeling the environment and techniques:
- RRT
- Lattice
- Modern approaches in autonomous driving
- Darpa Challenge Approaches
- Lattice in Frenet Frame
Spiral, Polynomial and Splines - Functional Optimization
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Xi, Wenda, et al. "A real-time motion planer- with trajeciony oprimizarion for autonomous wehicles.
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Robotics and Automation (ICR1), 2012 IEEE International Conference on. LELL, 2012.