{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/baidu-apollo-em-motion-planner","title":"Baidu Apollo EM Motion Planner","arxiv_id":"1807.08048","date":"2018-07-20","proceeding":null,"authors":["Haoyang Fan","Fan Zhu","Changchun Liu","Liangliang Zhang","Li Zhuang","Dong Li","Weicheng Zhu","Jiangtao Hu","Hongye Li","Qi Kong"],"abstract":"In this manuscript, we introduce a real-time motion planning system based on\nthe Baidu Apollo (open source) autonomous driving platform. The developed\nsystem aims to address the industrial level-4 motion planning problem while\nconsidering safety, comfort and scalability. The system covers multilane and\nsingle-lane autonomous driving in a hierarchical manner: (1) The top layer of\nthe system is a multilane strategy that handles lane-change scenarios by\ncomparing lane-level trajectories computed in parallel. (2) Inside the\nlane-level trajectory generator, it iteratively solves path and speed\noptimization based on a Frenet frame. (3) For path and speed optimization, a\ncombination of dynamic programming and spline-based quadratic programming is\nproposed to construct a scalable and easy-to-tune framework to handle traffic\nrules, obstacle decisions and smoothness simultaneously. The planner is\nscalable to both highway and lower-speed city driving scenarios. We also\ndemonstrate the algorithm through scenario illustrations and on-road test\nresults.\n  The system described in this manuscript has been deployed to dozens of Baidu\nApollo autonomous driving vehicles since Apollo v1.5 was announced in September\n2017. As of May 16th, 2018, the system has been tested under 3,380 hours and\napproximately 68,000 kilometers (42,253 miles) of closed-loop autonomous\ndriving under various urban scenarios.\n  The algorithm described in this manuscript is available at\nhttps://github.com/ApolloAuto/apollo/tree/master/modules/planning.","url_abs":"http://arxiv.org/abs/1807.08048v1","url_pdf":"http://arxiv.org/pdf/1807.08048v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"baidu-apollo-em-motion-planner","repo_url":"https://github.com/ApolloAuto/apollo","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"motion-planning","task_name":"Motion Planning"}],"methods":[{"method_slug":"speed","method_name":"SPEED"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1807.08048","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1807.08048"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/ApolloAuto/apollo","reach":{"status":"ok","spdx":"Apache-2.0"}}],"summary":{"unverified":4},"by_repo_kind":{"official":{"samples":4,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"54b924b21f211ce9","entry":"get_conf_file","repo":"ApolloAuto/apollo","repo_kind":"official","path":"modules/conf_gen/common/utils.py","file_url":"https://github.com/ApolloAuto/apollo/blob/HEAD/modules/conf_gen/common/utils.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"54b924b21f211ce9"}},{"code_sha256_prefix":"cf1238fbecc5402f","entry":"get_diff_file_lines","repo":"ApolloAuto/apollo","repo_kind":"official","path":".teamcity/coverage_diff.py","file_url":"https://github.com/ApolloAuto/apollo/blob/HEAD/.teamcity/coverage_diff.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"cf1238fbecc5402f"}},{"code_sha256_prefix":"d1e7786a4c3de55e","entry":"get_lines","repo":"ApolloAuto/apollo","repo_kind":"official","path":".teamcity/coverage_lines.py","file_url":"https://github.com/ApolloAuto/apollo/blob/HEAD/.teamcity/coverage_lines.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"d1e7786a4c3de55e"}},{"code_sha256_prefix":"af15f66b8d91b062","entry":"get_transform_dict","repo":"ApolloAuto/apollo","repo_kind":"official","path":"modules/conf_gen/common/utils.py","file_url":"https://github.com/ApolloAuto/apollo/blob/HEAD/modules/conf_gen/common/utils.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"af15f66b8d91b062"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}