Trajectory planning method for automated vehicles based on risk prediction in mixed traffic environment

Xin Li; Wei Shangguan; Yue Cao

doi:10.1117/12.2627764

14 March 2022 Trajectory planning method for automated vehicles based on risk prediction in mixed traffic environment

Xin Li, Wei Shangguan, Yue Cao

Proceedings Volume 12165, International Conference on Intelligent Traffic Systems and Smart City (ITSSC 2021); 121650O (2022) https://doi.org/10.1117/12.2627764
Event: 2021 International Conference on Intelligent Traffic Systems and Smart City, 2021, Zhengzhou, China

Abstract

Aiming at the problem of real-time safe trajectory planning of automated vehicles in a complex mixed traffic environment, this paper proposes a trajectory planning method based on risk prediction. Firstly, the motion of surrounding vehicles is predicted by the fusion of Constant Turn Rate and Acceleration model (CTRA) and Unscented Kalman Filter (UKF). Combining the time and space relationship between vehicles to assess driving risk. Then the initial and multiple final states of the trajectory are determined by driving behaviors to generate a set of candidate trajectories. After that, a multi-index cost function is constructed, to obtain an optimal trajectory without collision. Finally, the simulation results show that this proposed method meets the needs of vehicle safety trajectory planning in the highway scenario

Citation Download Citation

Xin Li, Wei Shangguan, and Yue Cao "Trajectory planning method for automated vehicles based on risk prediction in mixed traffic environment", Proc. SPIE 12165, International Conference on Intelligent Traffic Systems and Smart City (ITSSC 2021), 121650O (14 March 2022); https://doi.org/10.1117/12.2627764

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