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

doi:10.1109/TIV.2023.3239903

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	Safety-Balanced Driving-Style Aware Trajectory Planning in Intersection Scenarios With Uncertain Environment
	Wang, Xiao 1,4; Tang, Ke 1; Dai, Xingyuan 2,5; Xu, Jintao 1; Xi, Jinhao 3,5; Ai, Rui 1; Wang, Yuxiao 3,5; Gu, Weihao 1; Sun, Changyin 4
刊名	IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
	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
DOI	10.1109/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.
资助项目	National Natural Science Foundation of China[62173329]
WOS关键词	PARALLEL INTELLIGENCE ; METAVERSES ; PREDICTION ; ASSISTANCE ; VEHICLES ; BEHAVIOR ; MODEL
WOS研究方向	Computer Science ; Engineering ; Transportation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000994739000024
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
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.Qingdao Acad Intelligent Ind, Qingdao 266114, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Anhui Univ, Sch Artificial Intelligence, Hefei 230031, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, 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.