Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Baidu Apollo EM Motion Planner   In this manuscript, we introduce a real-time motion planning system based on
the Baidu Apollo (open source) autonomous driving platform. The developed
system aims to address the industrial level-4 motion planning problem while
considering safety, comfort and scalability. The system covers multilane and
single-lane autonomous driving in a hierarchical manner: (1) The top layer of
the system is a multilane strategy that handles lane-change scenarios by
comparing lane-level trajectories computed in parallel. (2) Inside the
lane-level trajectory generator, it iteratively solves path and speed
optimization based on a Frenet frame. (3) For path and speed optimization, a
combination of dynamic programming and spline-based quadratic programming is
proposed to construct a scalable and easy-to-tune framework to handle traffic
rules, obstacle decisions and smoothness simultaneously. The planner is
scalable to both highway and lower-speed city driving scenarios. We also
demonstrate the algorithm through scenario illustrations and on-road test
results.
  The system described in this manuscript has been deployed to dozens of Baidu
Apollo autonomous driving vehicles since Apollo v1.5 was announced in September
2017. As of May 16th, 2018, the system has been tested under 3,380 hours and
approximately 68,000 kilometers (42,253 miles) of closed-loop autonomous
driving under various urban scenarios.
  The algorithm described in this manuscript is available at
https://github.com/ApolloAuto/apollo/tree/master/modules/planning.

22
The categories of this paper are: chao-dyn
12
The categories of this paper are: nucl-th
25
The categories of this paper are: patt-sol
36
The categories of this paper are: cmp-lg
7
The categories of this paper are: hep-th
19
The categories of this paper are: eess
20
The categories of this paper are: acc-phys
10
The categories of this paper are: q-bio
16
The categories of this paper are: stat
32
The categories of this paper are: atom-ph
34
The categories of this paper are: chem-ph
31
The categories of this paper are: ao-sci
6
The categories of this paper are: astro-ph
5
The categories of this paper are: gr-qc
9
The categories of this paper are: nlin
35
The categories of this paper are: mtrl-th