System Development & Application
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 2
519-525,538

Trajectory planning of autonomous vehicle based on interactive vehicle trajectory prediction

Li Wenli
Han Di
Ren Yongpeng
Yi Fan
Li Chao
Key Laboratory of Advanced Manufacture Technology for Automobile Parts, Ministry of Education, Chongqing University of Technology, Chongqing 400054, China
DOI: 10.19734/j.issn.1001-3695.2022.06.0337

Abstract

For complex driving scenarios such as urban roads, this paper proposed a trajectory planning method for autonomous vehicles based on interactive vehicle trajectory prediction, which decoupled high-dimensional trajectory planning into low-dimensional path planning and speed planning. Firstly, it used the quintic polynomial curve and the remaining time of the collision to plan the vehicle drive path. Secondly, based on the social generative adversarial network Social-GAN, it predicted the trajectory of the interactive vehicle by combining the vehicle space influence and attention mechanism. Then, combined with the planned path of the main vehicle, the predicted trajectory of the interactive vehicle and the collision determination model to obtain the S-T map of the main vehicle, and used dynamic programming and numerical optimization methods to solve S-T diagram, so as to obtain a safe and comfortable optimal speed curve that satisfied the vehicle dynamics constraints. Finally, it built the PreScan-CarSim-MATLAB&Simulink-Python co-simulation model for experimental verification. The simulation results show that the proposed trajectory planning method can ensure the comfort and efficiency of vehicle driving on the premise of effectively avoiding collisions with interactive vehicles.

Foundation Support

重庆市研究生科研创新基金资助项目 (CYS22691)
重庆市自然科学基金资助项目(cstc2021jcyj-msxmX0183)
重庆市留学人员回国创业创新支持计划资助项目(cx2021070)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.06.0337
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 2
Section: System Development & Application
Pages: 519-525,538
Serial Number: 1001-3695(2023)02-034-0519-07

Publish History

[2022-12-09] Accepted Paper
[2023-02-05] Printed Article

Cite This Article

李文礼, 韩迪, 任勇鹏, 等. 基于交互车辆轨迹预测的自动驾驶车辆轨迹规划 [J]. 计算机应用研究, 2023, 40 (2): 519-525,538. (Li Wenli, Han Di, Ren Yongpeng, et al. Trajectory planning of autonomous vehicle based on interactive vehicle trajectory prediction [J]. Application Research of Computers, 2023, 40 (2): 519-525,538. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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