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| http://dx.doi.org/10.1016/j.jhqr.2020.12.001 | DOI Listing |
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National Engineering Laboratory for Electric Vehicles, Beijing Institute of Technology, Beijing 100081, China.
With advancements in autonomous driving technology, the coupling of spatial paths and temporal speeds in complex scenarios becomes increasingly significant. Traditional sequential decoupling methods for trajectory planning are no longer sufficient, emphasizing the need for spatio-temporal joint trajectory planning. The Constrained Iterative LQR (CILQR), based on the Iterative LQR (ILQR) method, shows obvious potential but faces challenges in computational efficiency and scenario adaptability.
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Institute of Biological Information Processing, Bioelectronics (IBI-3), Forschungszentrum Jülich GmbH, 52428 Jülich, Germany.
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King Saud Bin Abdulaziz University for Health Sciences (KSAU-HS), College of Medicine, Riyadh, Saudi Arabia.
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