无人驾驶路径规划论文简要

	A Review of Motion Planning Techniques for Automated Vehicles	综述和分类
0	Motion Planning for Autonomous Driving with a Conformal Spatiotemporal Lattice	从unstructured环境向structured环境的拓展，同时还从state lattice拓展到了spatiotemporal lattice从而解决path+speed=trajectory的motion planning问题 conformed? 顺从结构化道路，比如终点sample的朝向，曲率 k(s) path set， 不需要frenet v(s) speed set 问题： 这种路径和spiral， clothoid 有什么区别 https://zhuanlan.zhihu.com/p/495193848
1	A Real-Time Motion Planner with Trajectory Optimization for Autonomous Vehicles	spatiotemporal lattice 横向采样用了第一篇的思维， cost 感觉和Apollodp 里面静态动态障碍物差不多 后面优化项没看懂
2	DL-IAPS and PJSO: A Path/Speed Decoupled Trajectory Optimization and its Application in Autonomous Driving	优化算法SCP sequential convex programming 弹性带理论CES 平滑模型 cost-theta smooth 不是fem PJSO: 粗解cubic polynomial, 细解： pwj
3	Reactive nonholonomic trajectory generation via parametric optimal control	基础理论，待读 最优控制 ocp PolyTraj Apollo 2017 cubic spiral / quintic spiral https://zhuanlan.zhihu.com/p/495193848
4	Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame	BMW werling frenet_lattice_planner / apollo lattice
5	FISS: A Trajectory Planning Framework Using Fast Iterative Search and Sampling Strategy for Auto Driving	对比werlling vanila vs apollo lattice 效率，提出一种迭代最优搜索求解， 主要创新点是快速找出最优解

polynomial spiral