TY - GEN
T1 - Trajectory Planning with Comfort and Safety in Dynamic Traffic Scenarios for Autonomous Driving
AU - Zhang, Jiahui
AU - Jian, Zhiqiang
AU - Fu, Jiawei
AU - Nan, Zhixiong
AU - Xin, Jingmin
AU - Zheng, Nanning
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Trajectory planning is one of the most important modules of the Autonomous Driving Systems (ADSs), which aims to achieve a safe and comfortable interaction between the ADSs and obstacles. Currently, it remains a challenging issue to simultaneously ensure the comfort and safety of the planned trajectory, especially in dynamic traffic scenarios. In this paper, a trajectory planning method is proposed for autonomous vehicles to drive in dynamic traffic scenarios considering both comfort and safety. First, trajectory candidates are generated through the separation of path generation and velocity generation, and then some cost functions are constructed to evaluate each trajectory candidate to obtain the final trajectory. The proposed trajectory generation method guarantees the continuity of generated trajectory in both curvature and jerk, and the cost functions are proposed with the Trajectory Comfort Evaluation Model (TCEM) and Trajectory Safety Evaluation Model (TSEM), which balance the comfort and safety of a trajectory. Experiments prove the effectiveness of the proposed trajectory planner and its robustness in dynamic traffic scenarios.
AB - Trajectory planning is one of the most important modules of the Autonomous Driving Systems (ADSs), which aims to achieve a safe and comfortable interaction between the ADSs and obstacles. Currently, it remains a challenging issue to simultaneously ensure the comfort and safety of the planned trajectory, especially in dynamic traffic scenarios. In this paper, a trajectory planning method is proposed for autonomous vehicles to drive in dynamic traffic scenarios considering both comfort and safety. First, trajectory candidates are generated through the separation of path generation and velocity generation, and then some cost functions are constructed to evaluate each trajectory candidate to obtain the final trajectory. The proposed trajectory generation method guarantees the continuity of generated trajectory in both curvature and jerk, and the cost functions are proposed with the Trajectory Comfort Evaluation Model (TCEM) and Trajectory Safety Evaluation Model (TSEM), which balance the comfort and safety of a trajectory. Experiments prove the effectiveness of the proposed trajectory planner and its robustness in dynamic traffic scenarios.
UR - https://www.scopus.com/pages/publications/85124961871
U2 - 10.1109/IVWorkshops54471.2021.9669202
DO - 10.1109/IVWorkshops54471.2021.9669202
M3 - 会议稿件
AN - SCOPUS:85124961871
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 342
EP - 349
BT - 2021 IEEE Intelligent Vehicles Symposium Workshops, IV Workshops 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 32nd IEEE Intelligent Vehicles Symposium Workshops, IV Workshops 2021
Y2 - 11 July 2021 through 17 July 2021
ER -