Toward a More Complete, Flexible, and Safer Speed Planning for Autonomous Driving via Convex Optimization

In this paper, we present a complete, flexible and safe convex-optimization-based method to solve speed planning problems over a fixed path for autonomous driving in both static and dynamic environments. Our contributions are five fold. First, we summarize the most common constraints raised in vario...

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Bibliographic Details

Published in:	Sensors
Main Authors:	Yu Zhang, Huiyan Chen, Steven L. Waslander, Tian Yang, Sheng Zhang, Guangming Xiong, Kai Liu
Format:	Article
Language:	English
Published:	MDPI AG 2018-07-01
Subjects:	speed planning convex optimisation autonomous driving friction circle driving safety dynamic obstacle avoidance ride comfort mobility
Online Access:	http://www.mdpi.com/1424-8220/18/7/2185