Paper Info
Title
Autonomous Driving Trajectory Optimization With Dual-Loop Iterative Anchoring Path Smoothing and Piecewise-Jerk Speed Optimization
Abstract
This letter presents a free space trajectory optimization algorithm for autonomous driving, which decouples the collision-free trajectory generation problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) problem and a Piecewise-Jerk Speed Optimization (PJSO) problem. The work leads to remarkable driving performance improvements including more robust and precise collision avoidance, higher control feasibility, higher computation efficiency and stricter driving comfort guarantee, compared with other existing algorithms. The advantages of our algorithm are attributed to our fast iterative collision checks with exact vehicle/obstacle shapes, strict non-holonomic dynamic constraints and accurate kinematics-based speed optimization. It has been validated that, through batch simulation and road experiments, compared with prior works, our algorithm is with the highest robustness and capable to maintain the lowest failure rate ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\sim\!\text{7}\%$</tex-math></inline-formula> ) at nearly all test conditions, achieves 10x faster computational speed than other planners, fulfills <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{100}\%$</tex-math></inline-formula> driving-comfort standards in complex driving scenarios, and does not induce significant time increase as boundaries or obstacles scale up.
Year
DOI
Venue
2021
10.1109/LRA.2020.3045925
IEEE Robotics and Automation Letters
Keywords
DocType
Volume
Intelligent transportation systems,autonomous agents,nonholonomic motion planning
Journal
6
Issue
ISSN
Citations 
2
2377-3766
2
PageRank 
References 
Authors
0.37
0
8
Name
Order
Citations
PageRank
Jinyun Zhou120.70
Runxin He220.37
Yu Wang321.04
Shu Jiang421.72
Zhenguang Zhu520.37
Jiangtao Hu672.65
Jinghao Miao720.70
Qi Luo821.72