Application Research on Autonomous Driving Behavior Planning Based on Iterative Quadratic Regulator
A traffic flow simulation algorithm based on iterative quadratic regulator(iLQR)is proposed for autonomous driving behavior planning problems.Firstly,for strong interaction scenarios that require be-havior planning(intersections,lane changes,etc.),identify the traffic participants with the greatest inter-action impact;Then,strategy sampling is conducted to simulate the dual vehicle traffic flow for each strate-gy,and the trajectories of the dual vehicles under each strategy are obtained;Finally,by evaluating the trajectories generated under each strategy,the most reasonable interaction strategy is obtained.The experi-mental results show that the optimal control algorithm based on iterative quadratic regulators can signifi-cantly improve the effectiveness of solving behavior planning problems and reduce time consumption.