/qp_speed_planning

speed planning by quadratic programming

Primary LanguagePython

qp_speed_planning

Recalculate the speed to satisfy the constraint condition with python.The recursive convex optimization is used. The objective function is the square error with the original speed.

Note

The velocity must be positive

constraint

  • max velocity [m/s]
  • max acceleration (1d-approximate) [m/s2]
  • max jerk (1d-approximate) [m/s3]
  • max lateral acceleration [m/s2]
  • max steering(tire) angular velocity [rad/s]
  • min velocity while tire is rotating [m/s] : if this value is larger than zero, the vehicvle does not stop when tier is moving

result

image