This paper presents an automatic merging algorithm for autonomous driving vehicles, which decouples the specific motion planning problem into a Dual-Layer Automatic Merge Planning (DL_AMP) and a Descent-Based Trajectory Optimization (DBTO). This work leads to great improvements in finding the best merge opportunity, lateral and longitudinal merge planning and control, trajectory postprocessing and driving comfort.

翻译：本文件介绍了自动驾驶车辆的自动合并算法,该算法将具体的机动规划问题分解为双轨自动合并规划(DL_AMP)和基于世系的轨迹优化(DBTO ) 。 这项工作导致在寻找最佳合并机会、横向和纵向合并规划和控制、轨迹后处理和驾驶舒适方面大有改进。