Optimal Vehicle Trajectory Planning for Static Obstacle Avoidance using Nonlinear Optimization

Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless, computation efficiency is critical for the system to be deploy...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2023-07
Main Authors: Zhang, Yajia, Sun, Hongyi, Chai, Ruizhi, Kang, Daike, Li, Shan, Li, Liyun
Format: Article
Language:English
Subjects:
Algorithms
Collision avoidance
Collision dynamics
Obstacle avoidance
Trajectory optimization
Trajectory planning
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless, computation efficiency is critical for the system to be deployed as a commercial product. In this paper, we present a novel trajectory planning algorithm based on nonlinear optimization. The algorithm computes a kinematically feasible and comfort-optimal trajectory that achieves collision avoidance with static obstacles. Furthermore, the algorithm is time efficient. It generates an 6-second trajectory within 10 milliseconds on an Intel i7 machine or 20 milliseconds on an Nvidia Drive Orin platform.
ISSN:2331-8422