Path planner that creates smooth, safe trajectories for an autonomous vehicle to follow along a 3 lane highway with traffic. The path planner is able to keep inside its lane, avoid hitting other cars, and pass slower moving traffic all by using localization, sensor fusion, and map data.
motion-planning
path-planning
autonomous-driving
jerk-minimization
cost-functions
lane-change
highway-driving-scenario
quintic-polynomial
structured-environment
polynomial-trajectory-planning
spline-function
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Updated
Jan 25, 2021 - C++