We presented a parallel trajectory optimization method for fast replanning for the EV to achieve high travel efficiency in dense and congested traffic. Our approach efficiently generates feasible and safe candidate trajectories, while maintaining high computational efficiency based on the multiple-shooting and multi-threading techniques!
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September 2023: Two conference articles of the IEEE International Conference on Intelligent Transportation Systems.
Real-Time Parallel Trajectory Optimization with Spatiotemporal Safety Constraints for Autonomous Driving in Congested Traffic