PORP：面向无人驾驶的路径规划并行优化策略

戴天伦,李博涵,臧亚磊,戴华,于自强,陈钢

PORP: parallel optimization strategy of route planning for self-driving vehicles

Tian-lun DAI,Bo-han LI,Ya-lei ZANG,Hua DAI,Zi-qiang YU,Gang CHEN

表 4 不同slot步数与拥挤度阈值对改进比例的影响

Tab.4 Improvement ratio with different steps for slot and congestion thresholds

设置 ${\lambda}$(BJ) $\lambda$(NY) $ \lambda $(FLA) $ \eta $=5, $ \gamma $=1.1 1.223 1.314 1.274 $ \eta $=7, $ \gamma $=1.2 1.323 1.427 1.327 $ \eta $=9, $ \gamma $=1.3 1.374 1.322 1.482 $ \eta $=11, $ \gamma $=1.4 1.526 1.302 1.423 $ \eta $=13, $ \gamma $=1.5 1.402 1.212 1.323