Abstract:
In the present studies of autonomous driving systems, motion planning of automated vehicles in complex traffic scenarios is a tough issue. The problem of adjusting automa...Show MoreMetadata
Abstract:
In the present studies of autonomous driving systems, motion planning of automated vehicles in complex traffic scenarios is a tough issue. The problem of adjusting automated vehicles driving style is a difficult one. To address the above issues, this article focuses on the spatio-temporal motion planning problem of automated vehicles in multi-vehicle conflict scenarios. A risk-field based motion planning method is proposed. By predicting the state of the vehicles in the traffic scenario, the risk field matrix is built for motion planning. The idea of path-velocity separation planning is adopted to divide the motion planning into two layers as path planning and trajectory planning. In path planning, static risk matrices serve as constraints. Considering the driving safety and comfort, the path cost function is designed to evaluate the candidate path group, obtained by longitudinal sampling and lateral sampling, to determine the target path. The dynamic risk matrices are used to construct the spatio-temporal graph corresponding to the target path, based on which dynamic planning and quadratic planning are introduced to solve the trajectory planning problem. Simulations were built to prove the practicability of the method. Results show that by adjusting risk threshold can change the aggressiveness of autonomous vehicles driving style.
Published in: IEEE Transactions on Vehicular Technology ( Volume: 73, Issue: 1, January 2024)
Funding Agency:
Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing, China
National Engineering Laboratory for Comprehensive Transportation Big Data Application Technology, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Zhaojie Wang received the B.Sc. degree in traffic information engineering and control from Beihang University, Beijing, China, in 2017. He is currently working toward the Ph.D. degree with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang University, Beijing, China. His research interests include vehicle motion planning, ...Show More
Zhaojie Wang received the B.Sc. degree in traffic information engineering and control from Beihang University, Beijing, China, in 2017. He is currently working toward the Ph.D. degree with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang University, Beijing, China. His research interests include vehicle motion planning, ...View more
Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing, China
National Engineering Laboratory for Comprehensive Transportation Big Data Application Technology, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Guangquan Lu received the B.Sc. degree from the Harbin Institute of Technology, Harbin, China, in 1996, and the M.Sc. and Ph.D. degrees from Jilin University, Changchun, China, in 2001 and 2004, respectively. He is currently a Professor with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transporta...Show More
Guangquan Lu received the B.Sc. degree from the Harbin Institute of Technology, Harbin, China, in 1996, and the M.Sc. and Ph.D. degrees from Jilin University, Changchun, China, in 2001 and 2004, respectively. He is currently a Professor with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transporta...View more
Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing, China
National Engineering Laboratory for Comprehensive Transportation Big Data Application Technology, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Haitian Tan received the B.Sc. degree in traffic information engineering and control from Beihang University, Beijing, China, in 2018. He is currently working toward the Ph.D. degree with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang University, Beijing, China. His research interests include traffic safety analysis an...Show More
Haitian Tan received the B.Sc. degree in traffic information engineering and control from Beihang University, Beijing, China, in 2018. He is currently working toward the Ph.D. degree with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang University, Beijing, China. His research interests include traffic safety analysis an...View more
Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing, China
National Engineering Laboratory for Comprehensive Transportation Big Data Application Technology, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Miaomiao Liu received the B.S. degree in transportation engineering from the China University of Mining and Technology, Xuzhou, in 2008 and the M.S. and Ph.D. degrees in transportation engineering from Beihang University, Beijing, China, in 2015. From 2015 to 2017, she was a Postdoctoral Fellow and Associate Researcher with the Research Institute of Highway, Ministry of Transport, China. Since 2017, she has been with the ...Show More
Miaomiao Liu received the B.S. degree in transportation engineering from the China University of Mining and Technology, Xuzhou, in 2008 and the M.S. and Ph.D. degrees in transportation engineering from Beihang University, Beijing, China, in 2015. From 2015 to 2017, she was a Postdoctoral Fellow and Associate Researcher with the Research Institute of Highway, Ministry of Transport, China. Since 2017, she has been with the ...View more
Contents Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing, China
National Engineering Laboratory for Comprehensive Transportation Big Data Application Technology, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Zhaojie Wang received the B.Sc. degree in traffic information engineering and control from Beihang University, Beijing, China, in 2017. He is currently working toward the Ph.D. degree with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang University, Beijing, China. His research interests include vehicle motion planning, traffic safety analysis and driving behavior analysis.
Zhaojie Wang received the B.Sc. degree in traffic information engineering and control from Beihang University, Beijing, China, in 2017. He is currently working toward the Ph.D. degree with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang University, Beijing, China. His research interests include vehicle motion planning, traffic safety analysis and driving behavior analysis.View more
Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing, China
National Engineering Laboratory for Comprehensive Transportation Big Data Application Technology, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Guangquan Lu received the B.Sc. degree from the Harbin Institute of Technology, Harbin, China, in 1996, and the M.Sc. and Ph.D. degrees from Jilin University, Changchun, China, in 2001 and 2004, respectively. He is currently a Professor with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China. His research interests include road traffic safety, driving behavior, and V2V control.
Guangquan Lu received the B.Sc. degree from the Harbin Institute of Technology, Harbin, China, in 1996, and the M.Sc. and Ph.D. degrees from Jilin University, Changchun, China, in 2001 and 2004, respectively. He is currently a Professor with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beijing Advanced Innovation Center for Big Data and Brain Computing, School of Transportation Science and Engineering, Beihang University, Beijing, China. His research interests include road traffic safety, driving behavior, and V2V control.View more
Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing, China
National Engineering Laboratory for Comprehensive Transportation Big Data Application Technology, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Haitian Tan received the B.Sc. degree in traffic information engineering and control from Beihang University, Beijing, China, in 2018. He is currently working toward the Ph.D. degree with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang University, Beijing, China. His research interests include traffic safety analysis and driving behavior analysis.
Haitian Tan received the B.Sc. degree in traffic information engineering and control from Beihang University, Beijing, China, in 2018. He is currently working toward the Ph.D. degree with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang University, Beijing, China. His research interests include traffic safety analysis and driving behavior analysis.View more
Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing, China
National Engineering Laboratory for Comprehensive Transportation Big Data Application Technology, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Miaomiao Liu received the B.S. degree in transportation engineering from the China University of Mining and Technology, Xuzhou, in 2008 and the M.S. and Ph.D. degrees in transportation engineering from Beihang University, Beijing, China, in 2015. From 2015 to 2017, she was a Postdoctoral Fellow and Associate Researcher with the Research Institute of Highway, Ministry of Transport, China. Since 2017, she has been with the School of Transportation Science and Engineering, Beihang University, where she is currently an Associate Professor with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control. Her research interests include road risk assessment, traffic Big Data, driver behavior analysis, traffic simulation.
Miaomiao Liu received the B.S. degree in transportation engineering from the China University of Mining and Technology, Xuzhou, in 2008 and the M.S. and Ph.D. degrees in transportation engineering from Beihang University, Beijing, China, in 2015. From 2015 to 2017, she was a Postdoctoral Fellow and Associate Researcher with the Research Institute of Highway, Ministry of Transport, China. Since 2017, she has been with the School of Transportation Science and Engineering, Beihang University, where she is currently an Associate Professor with the Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control. Her research interests include road risk assessment, traffic Big Data, driver behavior analysis, traffic simulation.View more
