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Safety-Balanced Driving-Style Aware Trajectory Planning in Intersection Scenarios With Uncertain Environment

文献类型：期刊论文

作者Wang, Xiao1,5; Tang, Ke1; Dai, Xingyuan2,3; Xu, Jintao1; Xi, Jinhao2,4; Ai, Rui1; Wang, Yuxiao2,4; Gu, Weihao1; Sun, Changyin5
刊名IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
出版日期2023-04-01
卷号8期号:4页码:2888-2898
关键词Trajectory Planning Trajectory planning Safety Predictive models Training Data models Autonomous vehicles trajectory planning social interactions uncertain circumstances
ISSN号2379-8858
DOI10.1109/TIV.2023.3239903
通讯作者Wang, Xiao(xiao.wang@ahu.edu.cn)
英文摘要This paper proposes a two-stage trajectory planning method for self-driving vehicles (SDVs) in intersection scenarios with uncertain social circumstances while considering other traffic participants, which are human-driving vehicles (HDVs) with different driving styles. The mixture-of-experts approach is first utilized to learn from human-driving trajectory data to construct a multimodal motion planner, which uses a Transformer to model the interactions between vehicles by explicitly considering their driving styles to facilitate the integrated network to achieve scene-consistent multimodal trajectory prediction and candidate trajectory generation. Second, based on the generated trajectories for the SDV and the predicted trajectories for the other HDVs, each candidate planning trajectory is evaluated via a safety-balanced value function. After that, the trajectory with the highest value is selected for implementation. Such a method plans a safe and efficient driving trajectory in complex and uncertain scenarios. The experimental results demonstrate the efficiency and effectiveness of the designed method as well as the robustness and reasonableness of the SDVs' maneuver decisions at an intersection considering the behavioral dynamics of HDVs.
WOS关键词PARALLEL INTELLIGENCE ; METAVERSES ; PREDICTION ; ASSISTANCE ; VEHICLES ; BEHAVIOR ; MODEL
资助项目National Natural Science Foundation of China[62173329]
WOS研究方向Computer Science ; Engineering ; Transportation
语种英语
WOS记录号WOS:000994739000024
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/53390]  
专题多模态人工智能系统全国重点实验室
通讯作者Wang, Xiao
作者单位1.Haomo Technol Co Ltd, Beijing 100192, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Qingdao Acad Intelligent Ind, Qingdao 266114, Peoples R China
4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
5.Anhui Univ, Sch Artificial Intelligence, Hefei 230031, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Xiao,Tang, Ke,Dai, Xingyuan,et al. Safety-Balanced Driving-Style Aware Trajectory Planning in Intersection Scenarios With Uncertain Environment[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2023,8(4):2888-2898.
APA Wang, Xiao.,Tang, Ke.,Dai, Xingyuan.,Xu, Jintao.,Xi, Jinhao.,...&Sun, Changyin.(2023).Safety-Balanced Driving-Style Aware Trajectory Planning in Intersection Scenarios With Uncertain Environment.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,8(4),2888-2898.
MLA Wang, Xiao,et al."Safety-Balanced Driving-Style Aware Trajectory Planning in Intersection Scenarios With Uncertain Environment".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 8.4(2023):2888-2898.

入库方式： OAI收割

来源：自动化研究所

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