DL-AMP and DBTO: An Automatic Merge Planning and Trajectory Optimization and Its Application in Autonomous Driving

07/06/2021 ∙ by Yuncheng Jiang, et al. ∙ 0

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.

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