# DL-IAPS and PJSO: A Path/Speed Decoupled Trajectory Optimization and its Application in Autonomous Driving

arXiv: https://arxiv.org/abs/2009.11135 · HTML: https://mlsanity.com/paper/2009.11135/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Sep 2020.

## Built on by (most cited first, 1 of 1)

- [IA Planner: Motion Planning Using Instantaneous Analysis for Autonomous Vehicle in the Dense Dynamic Scenarios on Highways](https://mlsanity.com/paper/2103.10909/) (2021)

## Abstract (arXiv)

This paper presents a free space trajectory optimization algorithm of autonomous driving vehicle, which decouples the collision-free trajectory planning problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) and a Piece-wise Jerk Speed Optimization (PJSO). The work leads to remarkable driving performance improvements including more precise collision avoidance, higher control feasibility and better driving comfort, as those are often hard to realize in other existing path/speed decoupled trajectory optimization methods. Our algorithm's efficiency, robustness and adaptiveness to complex driving scenarios have been validated by both simulations and real on-road tests.