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