Abstract：This paper presents an algorithm named OCBA_OODE for on-road trajectory planning by using optimal computing budget allocation (OCBA) in a candidate-curve-based planning algorithm named OODE. OODE picks the best trajectory by comparing rough (biased but computationally inexpensive) evaluations of a set of candidate curves. The curve evaluation converges to the real value as the computing budget increases. OODE allocates the equal parts of the computing budget to each curve, while OCBA_OODE repeatedly allocates the budget according to the latest curve evaluations to improve the planning efficiency. OCBA_OODE is 20% faster than OODE while maintaining the same solution quality.
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