Energy-Model-Aware Trajectory Optimization for Autonomous Driving

Features

• Differentiable energy model
• Online nonlinear programming (NLP) optimization
• Integration of traffic and road slope predictions
• Extensive validation through case studies and quantitative analysis

How to Use

Install CasADi in your Python environment.

For the Frenet environment, use:

python emato/emato/sim/frenet.py

For the ACC test:

python emato/emato/sim/acc.py