arXiv 2107.024132021-07-30cs.ROcs.SYeess.SY

DL-AMP and DBTO: An Automatic Merge Planning and Trajectory Optimization and Its Application in Autonomous Driving

Shanghai Automotive Industry Corporation, Ltd.（上海汽车工业股份有限公司）

Yuncheng Jiang, Qi Lin, Jiwei Zhang, Jun Wang, Danjian Qian, Yuxi Cai

备注：: 8 pages, preprint on Feb 2, 2021, accepted by ITSC2021 on Jun, 25, 2021

英文摘要：

This paper presents an automatic merging algorithm for autonomous driving vehicles, which decouples the specific motion planning problem into a Dual-Layer Automatic Merge Planning (DL_AMP) and a Descent-Based Trajectory Optimization (DBTO). This work leads to great improvements in finding the best merge opportunity, lateral and longitudinal merge planning and control, trajectory postprocessing and driving comfort.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。