Jerk Constrained Velocity Planning for an Autonomous Vehicle: Linear Programming Approach
Yutaka Shimizu,Takamasa Horibe,Fumiya Watanabe,Shinpei Kato,Yutaka Shimizu,Takamasa Horibe,Fumiya Watanabe,Shinpei Kato
Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined by the traffic rules; comfort of the passengers. In order to achieve these goals, the jerk and dynamic objects should be considered, however, it makes the proble...
