Table 4 Algorithm comparison analysis.
Algorithm name | Quintic polynomial | Cubic B-spline curve | Cubic Bezier curve | Ours | Fifth-order Bézier curve | Compare with cubic bezier curve | Improved |
|---|---|---|---|---|---|---|---|
Optimal planning frequency | 133 | 134 | 130 | 135 | 134 | +3.85% | Yes |
Execution collision frequency | 0 | 0 | 0 | 0 | 0 | 0% | - |
Planning collision frequency | 11 | 13 | 8 | 0 | 22 | -6.15% | Yes |
Average longitudinal velocity | 6.1548 | 6.0699 | 6.2864 | 6.0350 | 6.0667 | -4.00% | Yes |
Average longitudinal acceleration | 0.0488 | 0.04868 | 0.0499 | 0.0484 | 0.0065 | -3.01% | Yes |
Average longitudinal jerk | 0.00077 | 0.00087 | 0.00085 | 0.00077 | 0.00012 | -9.41% | Yes |
Average lateral velocity | -0.0537 | -0.05691 | -0.0588 | -0.0595 | -0.0496 | +1.19% | No |
Average lateral acceleration | 0.0004 | 0.0075 | 0.0020 | 0.0053 | -0.0003 | +165.00% | No |
Average lateral jerk | -0.0048 | -0.0062 | 0.0032 | 0.0048 | -0.0015 | +50.00% | No |
Average cost | 44.2044 | 51.7982 | 33.6714 | 2.2288 | 85.4314 | -93.38% | Yes |
Computation speed (s) | 0.0950 | 0.0940 | 0.1953 | 0.2096 | 0.3249 | +7.32% | No |
