Simultaneous Trajectory and Speed Planning for Autonomous Vehicles Considering Maneuver Variants

Simultaneous Trajectory and Speed Planning for Autonomous Vehicles Considering Maneuver Variants

The paper presents a technique of motion planning for autonomous vehicles (AV) based on simultaneous trajectory and speed optimization. The method includes representing the trajectory by a finite element (FE), determining trajectory parameters in Frenet coordinates, composing a model of vehicle kine...

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Bibliographic Details
Main Authors: Maksym Diachuk, Said M. Easa
Format: Article
Language:English
Published: MDPI AG 2024-02-01
Series:Applied Sciences
Subjects:
autonomous vehicles
motion planning
nonlinear optimization
integral constraints
Online Access:https://www.mdpi.com/2076-3417/14/4/1579

Internet

https://www.mdpi.com/2076-3417/14/4/1579

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