Automatic driving path plan based on iterative and triple optimization method

TL;DR

This paper introduces a triple optimization algorithm for autonomous vehicle path planning that iteratively optimizes space, path, and speed to achieve local optimal solutions in complex and high-speed scenarios.

Contribution

It proposes a novel iterative triple optimization method for simultaneous space, path, and speed planning in autonomous driving.

Findings

Effective in complex scenes

Suitable for medium and high-speed driving

Achieves local optimal solutions

Abstract

This paper presents a triple optimization algorithm of two-dimensional space, driving path and driving speed, and iterates in the time dimension to obtain the local optimal solution of path and speed in the optimal driving area. Design iterative algorithm to solve the best driving path and speed within the limited conditions. The algorithm can meet the path planning needs of automatic driving vehicle in complex scenes and medium and high-speed scenes.