{"id":191,"date":"2024-12-03T19:07:49","date_gmt":"2024-12-03T11:07:49","guid":{"rendered":"http:\/\/106.12.148.75\/?p=191"},"modified":"2025-01-17T00:53:53","modified_gmt":"2025-01-16T16:53:53","slug":"%e3%80%90%e8%ae%ba%e6%96%87%e9%a2%86%e8%af%bb%e3%80%91constrained-iterative-lqr-for-on-road-autonomous-driving-motion-planning","status":"publish","type":"post","link":"https:\/\/jamilblog.top\/?p=191","title":{"rendered":"\u3010\u8bba\u6587\u9886\u8bfb\u3011Constrained Iterative LQR for On-Road Autonomous Driving Motion Planning"},"content":{"rendered":"\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"http:\/\/106.12.148.75\/wp-content\/uploads\/2024\/12\/cilqr_motionplaning.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"\u5d4c\u5165 cilqr_motionplaning\"><\/object><a id=\"wp-block-file--media-e96699d0-5fce-496a-8564-dc111446e9db\" href=\"http:\/\/106.12.148.75\/wp-content\/uploads\/2024\/12\/cilqr_motionplaning.pdf\" target=\"_blank\"  rel=\"nofollow\" >cilqr_motionplaning<\/a><a href=\"http:\/\/106.12.148.75\/wp-content\/uploads\/2024\/12\/cilqr_motionplaning.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-e96699d0-5fce-496a-8564-dc111446e9db\" target=\"_blank\"  rel=\"nofollow\" >\u4e0b\u8f7d<\/a><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">\u6458\u8981<\/h2>\n\n\n\n<p>\u8fd9\u7bc7\u8bba\u6587\u603b\u4f53\u4e0a\u4ecb\u7ecd\u4e86cilqr\u5728\u81ea\u52a8\u9a7e\u9a76\u8def\u5f84\u89c4\u5212\u4e2d\u7684\u5e94\u7528\uff0c\u4e3b\u8981\u7684\u8d21\u732e\u662f\u63d0\u4f9b\u4e86\u4e00\u79cd\u65b9\u6cd5\u4f7filqr\u53ef\u4ee5\u5904\u7406\u7ea6\u675f\u95ee\u9898<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u6b63\u6587<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">\u95ee\u9898\u6784\u5efa<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">ILQR\u7684\u524d\u4e16\u4eca\u751f<\/h4>\n\n\n\n<p>\u6587\u7ae0\u901a\u8fc7\u4e09\u4e2a\u95ee\u9898\u6765\u6784\u5efa\u4e86\u6574\u4e2ailqr\u7b97\u6cd5\u7684\u6c42\u89e3\u8fc7\u7a0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"407\" src=\"http:\/\/106.12.148.75\/wp-content\/uploads\/2024\/12\/1736243530-image.png\" alt=\"cilqr\u516c\u5f0f\" class=\"wp-image-354\" srcset=\"https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736243530-image.png 686w, https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736243530-image-300x178.png 300w\" sizes=\"auto, (max-width: 686px) 100vw, 686px\" 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alt=\"cilqr\u516c\u5f0f\" class=\"wp-image-356\" srcset=\"https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736243918-image.png 661w, https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736243918-image-300x218.png 300w\" sizes=\"auto, (max-width: 661px) 100vw, 661px\" 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"678\" height=\"389\" src=\"http:\/\/106.12.148.75\/wp-content\/uploads\/2024\/12\/1736245707-image.png\" alt=\"cilqr\u516c\u5f0f\" class=\"wp-image-360\" srcset=\"https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736245707-image.png 678w, https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736245707-image-300x172.png 300w\" sizes=\"auto, (max-width: 678px) 100vw, 678px\" 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srcset=\"https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736245946-image.png 676w, https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736245946-image-300x129.png 300w\" sizes=\"auto, (max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<p>\u6807\u51c6lqr\u95ee\u9898\u60f3\u5fc5\u80fd\u8bfb\u5230\u8fd9\u91cc\u7684\u4eba\u5e94\u8be5\u90fd\u6709\u6240\u4e86\u89e3\u8fd9\u91cc\u4e0d\u518d\u8d58\u8ff0\uff0c \u901a\u8fc7\u6c42\u89e3\u674e\u5361\u8fea\u65b9\u7a0b\u53ef\u4ee5\u5f97\u5230\u6700\u4f18\u89e3\uff08\u603b\u4f53\u4e0a\u770b\u662f\u5c40\u90e8\u7684\u6700\u4f18\u89e3\uff09<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">CILQR\uff08Constrained Iterative 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https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736247200-image-300x140.png 300w\" sizes=\"auto, (max-width: 675px) 100vw, 675px\" \/><\/figure>\n\n\n\n<p>\u800c\u5bf9\u4e8e\u7b49\u5f0f\u7ea6\u675f\uff0c\u5728\u4e0a\u9762\u7684ilqr\u4e2d\u6211\u4eec\u5df2\u7ecf\u8ba8\u8bba\u8fc7\u8981\u5c06\u5176\u8fdb\u884c\u7ebf\u6027\u5316\uff0c\u4e5f\u5c31\u662f\u8fdb\u884c\u4e00\u9636\u5c55\u5f00<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"247\" src=\"http:\/\/106.12.148.75\/wp-content\/uploads\/2024\/12\/1736247542-image.png\" alt=\"cilqr\u516c\u5f0f\" class=\"wp-image-375\" srcset=\"https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736247542-image.png 676w, https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736247542-image-300x110.png 300w\" sizes=\"auto, (max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<p>\u90a3\u4e48f_k\u7ecf\u8fc7\u7ebf\u6027\u5316\u540e\uff0c\u5c06f_k &lt; 0 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srcset=\"https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736505422-image.png 570w, https:\/\/jamilblog.top\/wp-content\/uploads\/2024\/12\/1736505422-image-300x70.png 300w\" sizes=\"auto, (max-width: 570px) 100vw, 570px\" \/><\/figure>\n\n\n\n<p>\u5c06cost\u4e5f\u8f6c\u6362\u6210\u4e8c\u6b21\u578b\u884c\u9a76\uff0c\u81f3\u6b64\u5df2\u7ecf\u5c06\u95ee\u9898\u4e00\u8f6c\u6362\u6210\u4e86\u4e00\u4e2a\u65e0\u7ea6\u675f\u7684ilqr\u6c42\u89e3\u95ee\u9898\uff0c\u518d\u6839\u636eilqr\u7b97\u6cd5\uff0c\u4e0d\u65ad\u5730\u8fed\u4ee3\u6807\u51c6lqr\u95ee\u9898\uff0c\u5373\u53ef\u5bf9\u8f68\u8ff9\u8fdb\u884c\u4f18\u5316<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u6a21\u578b\u8bbe\u8ba1<\/h3>\n\n\n\n<p>\u7ecf\u8fc7\u524d\u9762\u7684\u52aa\u529b\uff0c\u7ec8\u4e8e\u5c06\u8981\u89e3\u51b3\u7684\u95ee\u9898\u6a21\u578b\u53d8\u6210\u4e86\u8fd9\u6837\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"563\" height=\"346\" 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