Table 5 Ablation studies on the spatiotemporal joint algorithm.
Algorithm | Road curvature | Vehicle posture | S_v | S_a | S_J | L_v | L_a | L_J | Time | Cost | Planning success times | Obstacle avoidance success rate |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
Quartic Bezier curve | / | / | 6.2864 | 0.0499 | 0.00085 | -0.0588 | 0.0020 | 0.0032 | 0.1953 | 33.67 | 8/130 | 100% |
/ | √ | 6.2487 | 0.0498 | 0.00087 | -0.0650 | 0.0050 | 0.0065 | 0.1962 | 14.01 | 3/131 | 100% | |
√ | / | 6.2461 | 0.0498 | 0.00084 | -0.0589 | 0.0045 | 0.0065 | 0.2145 | 18.05 | 4/131 | 100% | |
Ours | √ | √ | 6.0350 | 0.0484 | 0.00077 | -0.0595 | 0.0053 | 0.0048 | 0.2096 | 2.23 | 0/135 | 100% |
