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Multi-Profile Quadratic Programming (MPQP) for Optimal Gap Selection and Speed Planning of Autonomous Driving

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arxiv 2401.06305 v1 pith:3LYB4OWM submitted 2024-01-12 cs.RO cs.SYeess.SY

Alexandre Miranda Anon , Sangjae Bae , Manish Saroya , David Isele This is my paper · ORCID
classification cs.ROcs.SYeess.SY
keywords speedautonomousdrivingoptimalplanningalgorithmprogrammingquadratic
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Smooth and safe speed planning is imperative for the successful deployment of autonomous vehicles. This paper presents a mathematical formulation for the optimal speed planning of autonomous driving, which has been validated in high-fidelity simulations and real-road demonstrations with practical constraints. The algorithm explores the inter-traffic gaps in the time and space domain using a breadth-first search. For each gap, quadratic programming finds an optimal speed profile, synchronizing the time and space pair along with dynamic obstacles. Qualitative and quantitative analysis in Carla is reported to discuss the smoothness and robustness of the proposed algorithm. Finally, we present a road demonstration result for urban city driving.

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Cited by 3 Pith papers

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score. Full citation record

  1. Frenet Corridor Planner: An Optimal Local Path Planning Framework for Autonomous Driving

    cs.RO 2025-05 conditional novelty 5.0 of 10

    FCP converts static obstacles into corridor bounds in Frenet coordinates and minimizes a smoothness and risk objective with a space-domain bicycle model, yielding fast local paths.

  2. Predictive Planner for Autonomous Driving with Consistency Models

    cs.RO 2025-02 conditional novelty 5.0 of 10

    A consistency-model-based predictive planner generates joint ego and agent trajectories in four sampling steps, with an alternating guided-sampling scheme to satisfy planning constraints.

  3. SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging

    cs.RO 2025-07 conditional novelty 4.0 of 10

    A lattice-based planner with merge-specific costs and a desired-speed rule handled every simulated forced highway merge and did so faster than its own ablated variants.

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