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arXiv · 2107.02413

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

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

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.

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Yuncheng Jiang, Qi Lin, Jiwei Zhang, Jun Wang, Danjian Qian, Yuxi Cai. 2021-07-06. DL-AMP and DBTO: An Automatic Merge Planning and Trajectory Optimization and Its Application in Autonomous Driving. https://arxiv.org/abs/2107.02413

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