Toward a More Complete, Flexible, and Safer Speed Planning for Autonomous Driving via Convex Optimization

Toward a More Complete, Flexible, and Safer Speed Planning for Autonomous Driving via Convex Optimization

In this paper, we present a complete, flexible and safe convex-optimization-based method to solve speed planning problems over a fixed path for autonomous driving in both static and dynamic environments. Our contributions are five fold. First, we summarize the most common constraints raised in vario...

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Bibliographic Details
Main Authors: Yu Zhang, Huiyan Chen, Steven L. Waslander, Tian Yang, Sheng Zhang, Guangming Xiong, Kai Liu
Format: Article
Language:English
Published: MDPI AG 2018-07-01
Series:Sensors
Subjects:
speed planning
convex optimisation
autonomous driving
friction circle
driving safety
dynamic obstacle avoidance
ride comfort
mobility
Online Access:http://www.mdpi.com/1424-8220/18/7/2185

Internet

http://www.mdpi.com/1424-8220/18/7/2185

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