Table 6 Comparison of model planning performance in dynamic environments.
Algorithm name | MPTC | Adaptive bezier | Ours | Improved |
|---|---|---|---|---|
Optimal planning frequency | 113 | 112 | 118 | Yes |
Average longitudinal velocity | 7.2697 | 7.3024 | 6.9733 | Yes |
Average longitudinal acceleration | -0.2376 | -0.2399 | -0.2045 | Yes |
Average longitudinal jerk | -0.0032 | -0.0032 | -0.0021 | Yes |
Average lateral velocity | -0.0586 | -0.0603 | -0.0582 | Yes |
Average lateral acceleration | -0.0010 | 0.0019 | 0.0020 | No |
Average lateral jerk | -0.0005 | 0.0060 | 0.0050 | No |
Average cost | 70.1279 | 74.9516 | 41.3630 | Yes |
Computation speed (s) | 0.0810 | 0.2084 | 0.1881 | No |
