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

07/06/2021

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by Yuncheng Jiang, et al.

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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.

Yuncheng Jiang
7 publications
Qi Lin
3 publications
Jiwei Zhang
20 publications
Jun Wang
360 publications
Danjian Qian
1 publication
Yuxi Cai
5 publications

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