Trajectory Planning Method of Autonomous Vehicle in Road Scene
Peng Hu, Zeguo Ma, Hongxia Wang, Hongdan Li, Kai Peng, Huanshui Zhang · 2022
In this paper, a trajectory planning algorithm based on the integration of a sampling and an optimization is proposed in autonomous vehicle. Unlike other planning methods, this algorithm introduces a three-dimensional sampling scheme. A coarse behavioral trajectory is predicted by the evaluating the sampled state points. The trajectory optimization scheme is designed on the basis of the behavioral trajectory. For the efficiency of trajectory optimization, the search range is restricted to local optimal solutions. The simulation results show that the method has good obstacle avoidance performance.