Path planning is a key component in motion planning for autonomous vehicles. A path specifies the geometrical shape that the vehicle will travel, thus, it is critical to safe and comfortable vehicle motions. For urban driving scenarios, autonomous vehicles need the ability to navigate in cluttered environment, e.g., roads partially blocked by a number of vehicles/obstacles on the sides. How to generate a kinematically feasible and smooth path, that can avoid collision in complex environment, makes path planning a challenging problem. In this paper, we present a novel quadratic programming approach that generates optimal paths with resolution-complete collision avoidance capability.

翻译：道路规划是自主车辆运动规划的一个关键组成部分。路径指定了车辆行驶的几何形状,因此,对于安全舒适的车辆行驶至关重要。对于城市驾驶方案而言,自主车辆需要有能力在混乱的环境中行驶,例如路面上被一些车辆/障碍部分堵塞的道路。如何产生一种运动上可行和顺畅的路径,避免在复杂环境中发生碰撞,使行驶规划成为一个具有挑战性的问题。在本文件中,我们提出了一种新型的四边式编程方法,该方法能够产生解决完全避免碰撞的能力的最佳途径。