Autonomous driving lacks strong proof of energy efficiency with the energy-model-agnostic trajectory planning. To achieve an energy consumption model-aware trajectory planning for autonomous driving, this study proposes an online nonlinear programming method that optimizes the polynomial trajectories generated by the Frenet polynomial method while considering both traffic trajectories and road slope prediction. This study further investigates how the energy model can be leveraged in different driving conditions to achieve higher energy efficiency. Case studies, quantitative studies, and ablation studies are conducted in a sedan and truck model to prove the effectiveness of the method.

翻译：自动驾驶领域缺乏对能耗模型无关轨迹规划方法能效的严格证明。为实现能耗模型感知的自动驾驶轨迹规划，本研究提出一种在线非线性规划方法，在综合考虑交通轨迹与道路坡度预测的前提下，对Frenet多项式方法生成的多项式轨迹进行优化。本研究进一步探讨了在不同驾驶条件下如何利用能耗模型以实现更高的能效。通过轿车与卡车模型的案例研究、定量分析与消融实验，验证了所提方法的有效性。