论文标题
具有梯形棱镜走廊和贝齐尔曲线的自动驾驶汽车的时空运动计划
Spatio-temporal Motion Planning for Autonomous Vehicles with Trapezoidal Prism Corridors and Bézier Curves
论文作者
论文摘要
安全保证的运动计划对于自动驾驶汽车产生无碰撞轨迹至关重要。具有脱钩路径和速度计划的分层运动计划方法被广泛用于此目的。在存在动态障碍的情况下，这种方法容易屈服。时空方法同时处理路径计划和速度计划；但是，现有方法仅支持简单形状的走廊，例如立方体，这限制了在复杂场景中进行优化的搜索空间。我们建议使用梯形棱镜形的走廊进行优化，与现有的基于立方体走廊的方法相比，该方法显着扩大了解决方案空间。最后，在我们提出的走廊中进行了分段贝齐曲线优化。从理论上讲，该公式保证了连续时间轨迹的安全性。我们验证了在数值和CROOMROAD模拟中提出的方法的效率和有效性。
Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free trajectories. A layered motion planning approach with decoupled path and speed planning is widely used for this purpose. This approach is prone to be suboptimal in the presence of dynamic obstacles. Spatial-temporal approaches deal with path planning and speed planning simultaneously; however, the existing methods only support simple-shaped corridors like cuboids, which restrict the search space for optimization in complex scenarios. We propose to use trapezoidal prism-shaped corridors for optimization, which significantly enlarges the solution space compared to the existing cuboidal corridors-based method. Finally, a piecewise Bézier curve optimization is conducted in our proposed corridors. This formulation theoretically guarantees the safety of the continuous-time trajectory. We validate the efficiency and effectiveness of the proposed approach in numerical and CommonRoad simulations.
