Abstract:Trajectory planning is a core technology for autonomous vehicle directlyreflecting the driving safety and efficiency. In this paper, a spatial‐speed decoupled planning method is studied for real‐time trajectory generation in the on‐road environment. The proposed approach mainly includes two parts: optimization‐based lateral planning and selection‐based longitudinal speed planning. The optimization‐based lateral planning is employed to generate an optimal collision‐free and smooth path by solving a quadratic pr… Show more
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