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

Dependencies.

This code has been tested on Ubuntu18.04/20.04. External dependencies are

• Eigen3
• OSQP
• CMake3.3 or higher

Acknowledgements

This code is the self-research code for performing velocity planning on a fixed path using convex optimization method, and the structure of the repo is highly based on the nice work Jerk Constrained Velocity Planning for an Autonomous Vehicle: Linear Programming Approach, and their open-source code jerk_optimal_velocity_planning.

Further Development

We add another QP solver piqp support, and note in current time only the dense form is supported.

References

For further interests on this topic, I recommend you refer to the following papers:

• Optimal Vechile Path Planning Using Quadratic Optimization for Baidu Apollo Open Platform
• A Real-Time Motion Planner with Trajectory Optimization for Autonomous Vehicles
• Safe Trajectory Generation For Complex Urban Environments Using Spatio-temporal Semantic Corridor (More deeper ...)