With the development of artificial intelligence and communication technology, road-vehicle fusion technology has become the trend of future traffic development. High-precision trajectory planning is required for the operation of autonomous driving vehicles. This paper focus on the trajectory planning problem for autonomous vehicles driving in the region where objects are occluded. At first, the space-time map and Frenet coordinate system of the road are established. Through cooperative perception between the autonomous driving vehicles and infrastructure system, the platform of road analyzes the potential risks. Hybrid A* path planning improved for the speed planning generates the optimal trajectory. The proposed framework is implemented through simulations in accident-prone scenarios in this paper. The simulation results show that the trajectory and speed smoothness of the autonomous driving vehicle is improved, and the driving safety of the autonomous driving vehicle is enhanced in the road-vehicle sensing cooperative system.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Trajectory Planning of Autonomous Driving Vehicles Based on Road-Vehicle Fusion


    Contributors:
    Li, Han (author) / Yu, Guizhen (author) / Zhou, Bin (author) / Li, Da (author) / Wang, Zhangyu (author)

    Conference:

    20th COTA International Conference of Transportation Professionals ; 2020 ; Xi’an, China (Conference Cancelled)


    Published in:

    CICTP 2020 ; 816-828


    Publication date :

    2020-12-09




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Focused Trajectory Planning for autonomous on-road driving

    Gu, Tianyu / Snider, Jarrod / Dolan, John M. et al. | IEEE | 2013


    Driving-behavior-oriented trajectory planning for autonomous vehicle driving on urban structural road

    Zeng, Dequan / Yu, Zhuoping / Xiong, Lu et al. | SAGE Publications | 2021


    FOCUSED TRAJECTORY PLANNING FOR AUTONOMOUS ON-ROAD DRIVING

    Gu, T. / Snider, J. / Dolan, J. et al. | British Library Conference Proceedings | 2013


    Dynamic Trajectory Planning for Vehicle Autonomous Driving

    Zhang, Sumin / Deng, Weiwen / Zhao, Qingrong et al. | IEEE | 2013


    TRAJECTORY PLANNING IN AUTONOMOUS DRIVING VEHICLES FOR UNFORESEEN SCENARIOS

    JIANG SHU / WU SZU HAO / LIU HAO et al. | European Patent Office | 2024

    Free access