motion_velocity_smoother

[hzkkk1997]

Autoware's speed smoothing module has four algorithms, the default being the jerk_filtered_smoother method, but I'm not quite sure what the objective function, constraint, and decision variables are for this method, reading through the code, I'm still not quite sure what the mathematical representation of the objective function looks like, please help me！

[takayuki5168]

@hzkkk1997
The difference just comes from the the objective function of the optimization.
You can see the brief explanation in the following document.
https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/#smooth-velocity

[hzkkk1997]

Thanks for your answer! I have read this document before, but there is no expression of mathematical model. Do you know where there is a relevant document?

[takayuki5168]

Sorry, we do not have the document of each mathematical model.
L2 and L infinity norm optimization is the general optimization technique, so you can search it.

[hzkkk1997]

Thank you very much for your reply, I will study again.

[maxime-clem]

@hzkkk1997 I marked the discussion as answered but feel free to unmark it if needed.