Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the high-dimensional conflicts and further reduce the difficulty of obtaining feasible trajectories. Therefore, this article proposes a novel hierarchical multi-vehicle coordinated motion planning method based on interactive spatio-temporal corridors (ISTCs). In the first layer, based on the initial guidance trajectories, Mixed Integer Quadratic Programming is designed to construct ISTCs capable of resolving conflicts in generic multi-vehicle scenarios. And then in the second layer, Non-Linear Programming is settled to generate in-corridor trajectories that satisfy the vehicle dynamics. By introducing ISTCs, the multi-vehicle coordinated motion planning problem is able to be decoupled into single-vehicle trajectory optimization problems, which greatly decentralizes the computational pressure and has great potential for real-world applications. Besides, the proposed method searches for feasible solutions in the 3-D$(x,y,t)$ configuration space, preserving more possibilities than the traditional velocity-path decoupling method. Simulated experiments in unsignalized intersection and challenging dense scenarios have been conducted to verify the feasibility and adaptability of the proposed framework.


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    Title :

    A Hierarchical Multi-Vehicle Coordinated Motion Planning Method Based on Interactive Spatio-Temporal Corridors


    Contributors:
    Zhang, Xiang (author) / Wang, Boyang (author) / Lu, Yaomin (author) / Liu, Haiou (author) / Gong, Jianwei (author) / Chen, Huiyan (author)

    Published in:

    Publication date :

    2024-01-01


    Size :

    4964859 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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