Real-time parallel trajectory optimization with spatiotemporal safety constraints for autonomous driving in congested traffic
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic
congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic …
congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic …
Barrier-Enhanced Homotopic Parallel Trajectory Optimization for Safety-Critical Autonomous Driving
Enforcing safety while preventing overly conservative behaviors is essential for autonomous
vehicles to achieve high task performance. In this paper, we propose a barrier-enhanced …
vehicles to achieve high task performance. In this paper, we propose a barrier-enhanced …