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Jerk Constraint Velocity Planning for an Autonomous Vehicle: Linear Programming Approach

Paper

Our work is going to be presented at ICRA 2022. You can find the paper from here.

Dependencies.

This code has been tested on OSX, but the author is working to test the code on Ubuntu18.04/20.04. External dependencies are

  • Gurobi 10.0
  • NLOPT
  • Eigen3
  • OSQP
  • CMake3.3 or higher

Getting Started

1. Build the Code

mkdir build
cd build
cmake ..
make

2. Running Code

  • Running the main code
./filter_position_opt
  • Running the visualization code
python3 visualize_experiments.py
  • Running the st graph code
python3 visualize_st.py

Result

  • Scenario Normal

  • Scenario Stop

On Board Experiment Result

  • Stopping Scenario

  • Following

  • Cut-In

Author

Yutaka Shimizu: [email protected]
If you have any questions about the code or paper, feel free to contact the author either through Issues or email.