非線形最適化を用いた静的障害物回避のための最適車両軌道計画
Optimal Vehicle Trajectory Planning for Static Obstacle Avoidance using Nonlinear Optimization
非線形最適化に基づき、静的障害物を回避しつつ乗り心地と運動学的実現可能性を両立した車両軌道を、実用的な計算時間で生成するアルゴリズムを提案した。
著者: Yajia Zhang, Hongyi Sun, Ruizhi Chai, Daike Kang, Shan Li, Liyun Li
分類: cs.RO
原文アブストラクト
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless, computation efficiency is critical for the system to be deployed as a commercial product. In this paper, we present a novel trajectory planning algorithm based on nonlinear optimization. The algorithm computes a kinematically feasible and comfort-optimal trajectory that achieves collision avoidance with static obstacles. Furthermore, the algorithm is time efficient. It generates an 6-second trajectory within 10 milliseconds on an Intel i7 machine or 20 milliseconds on an Nvidia Drive Orin platform.
