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Improved Trajectory Planning for On-Road Self-Driving Vehicles Via Combined Graph Search, Optimization & Topology Analysis

Trajectory planning is an important component of autonomous driving. It takes the result of route-level navigation plan and generates the motion-level commands that steer an autonomous passenger vehicle (APV). Prior work on solving this problem uses either a sampling-based or optimization-based trajectory planner, accompanied by some high-level rule generation components.

Identiferoai:union.ndltd.org:cmu.edu/oai:repository.cmu.edu:dissertations-1833
Date01 February 2017
CreatorsGu, Tianyu
PublisherResearch Showcase @ CMU
Source SetsCarnegie Mellon University
Detected LanguageEnglish
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