Autonomous driving paper index
DL-AMP and DBTO: An Automatic Merge Planning and Trajectory Optimization and its Application in Autonomous Driving
One-line summary
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).
Engineering notes
Key topics: autonomous driving, motion planning, on-road, planning, control. See the paper for implementation details and experimental results.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。
Original abstract
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. Our algorithm's robustness, adaptiveness and efficiency have been tested and validated both in simulations and on-road tests.
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