This paper presents an automatic merging algorithm for autonomous driving vehicles, which decouples the specific motion planning problem into a Dual-Layer Automatic Merge Planning (DL_AMP) and a Descent-Based Trajectory Optimization (DBTO). This work leads to great improvements in finding the best merge opportunity, lateral and longitudinal merge planning and control, trajectory postprocessing and driving comfort.
@article{arxiv.2107.02413,
title = {DL-AMP and DBTO: An Automatic Merge Planning and Trajectory Optimization and Its Application in Autonomous Driving},
author = {Yuncheng Jiang and Qi Lin and Jiwei Zhang and Jun Wang and Danjian Qian and Yuxi Cai},
journal= {arXiv preprint arXiv:2107.02413},
year = {2021}
}
Comments
8 pages, preprint on Feb 2, 2021, accepted by ITSC2021 on Jun, 25, 2021