I am wondering about the lateral motion optimization, which is mentioned in this supplementary file “Using online verification to prevent autonomous vehicles from causing accidents”, and regarding to the this tutorial that deals with the longitudinal motion optimization, my question is:
How can I implement the lateral motion optimization as the tutorial link explained the longitudinal one?
You can refer to this paper for details: Pek, Christian, and Matthias Althoff. “Computationally efficient fail-safe trajectory planning for self-driving vehicles using convex optimization.” 2018 21st International Conference on Intelligent Transportation Systems (ITSC) . IEEE, 2018.
There is no clear plan yet to release the described QP planner. Essentially, you need to extract the constraints on longitudinal and lateral directions and use a (QP) solver to solve for the feasible solutions.