Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles

Chen Shao; Xuting Duan; Jianshan Zhou; Dezong Zhao

doi:10.1109/ICUS58632.2023.10318330

Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles

Chen Shao
, Xuting Duan^*
, Jianshan Zhou
, Dezong Zhao

^*Corresponding author for this work

School of Transportation Science and Engineering

Beihang University
Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control
University of Glasgow

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A proposed obstacle avoidance trajectory planning method for autonomous vehicles considers social behavior characteristics to address the interaction problem with human drivers in mixed traffic environments. The method integrates graph theory and centrality functions to classify and predict driver behavior, employing model predictive control (MPC) to plan the autonomous vehicle's trajectory. By combining these social behaviors, the method ensures safe completion of the driving task based on probability. Experimental results from an interactive obstacle avoidance scenario in a curved environment confirm the successful completion of the task, validating the proposed method's feasibility and effectiveness, supporting its potential for real-world application.

Original language	English
Title of host publication	Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Editors	Rong Song
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	412-416
Number of pages	5
ISBN (Electronic)	9798350316308
DOIs	https://doi.org/10.1109/ICUS58632.2023.10318330
State	Published - 2023
Event	2023 IEEE International Conference on Unmanned Systems, ICUS 2023 - Hefei, China Duration: 13 Oct 2023 → 15 Oct 2023

Publication series

Name	Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

Conference

Conference	2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Country/Territory	China
City	Hefei
Period	13/10/23 → 15/10/23

Keywords

Autonomous driving
CMetric
MPC
Social behavior
Trajectory planning

Access to Document

10.1109/ICUS58632.2023.10318330

Cite this

Shao, C., Duan, X., Zhou, J., & Zhao, D. (2023). Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles. In R. Song (Ed.), Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023 (pp. 412-416). (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS58632.2023.10318330

Shao, Chen ; Duan, Xuting ; Zhou, Jianshan et al. / Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles. Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. editor / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 412-416 (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023).

@inproceedings{e437d33ba9194129b01d55474bb2e135,

title = "Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles",

abstract = "A proposed obstacle avoidance trajectory planning method for autonomous vehicles considers social behavior characteristics to address the interaction problem with human drivers in mixed traffic environments. The method integrates graph theory and centrality functions to classify and predict driver behavior, employing model predictive control (MPC) to plan the autonomous vehicle's trajectory. By combining these social behaviors, the method ensures safe completion of the driving task based on probability. Experimental results from an interactive obstacle avoidance scenario in a curved environment confirm the successful completion of the task, validating the proposed method's feasibility and effectiveness, supporting its potential for real-world application.",

keywords = "Autonomous driving, CMetric, MPC, Social behavior, Trajectory planning",

author = "Chen Shao and Xuting Duan and Jianshan Zhou and Dezong Zhao",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Unmanned Systems, ICUS 2023 ; Conference date: 13-10-2023 Through 15-10-2023",

year = "2023",

doi = "10.1109/ICUS58632.2023.10318330",

language = "英语",

series = "Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "412--416",

editor = "Rong Song",

booktitle = "Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023",

address = "美国",

}

Shao, C, Duan, X , Zhou, J & Zhao, D 2023, Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles. in R Song (ed.), Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023, Institute of Electrical and Electronics Engineers Inc., pp. 412-416, 2023 IEEE International Conference on Unmanned Systems, ICUS 2023, Hefei, China, 13/10/23. https://doi.org/10.1109/ICUS58632.2023.10318330

Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles. / Shao, Chen; Duan, Xuting ; Zhou, Jianshan et al.
Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. ed. / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2023. p. 412-416 (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles

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AU - Duan, Xuting

AU - Zhou, Jianshan

AU - Zhao, Dezong

PY - 2023

Y1 - 2023

N2 - A proposed obstacle avoidance trajectory planning method for autonomous vehicles considers social behavior characteristics to address the interaction problem with human drivers in mixed traffic environments. The method integrates graph theory and centrality functions to classify and predict driver behavior, employing model predictive control (MPC) to plan the autonomous vehicle's trajectory. By combining these social behaviors, the method ensures safe completion of the driving task based on probability. Experimental results from an interactive obstacle avoidance scenario in a curved environment confirm the successful completion of the task, validating the proposed method's feasibility and effectiveness, supporting its potential for real-world application.

AB - A proposed obstacle avoidance trajectory planning method for autonomous vehicles considers social behavior characteristics to address the interaction problem with human drivers in mixed traffic environments. The method integrates graph theory and centrality functions to classify and predict driver behavior, employing model predictive control (MPC) to plan the autonomous vehicle's trajectory. By combining these social behaviors, the method ensures safe completion of the driving task based on probability. Experimental results from an interactive obstacle avoidance scenario in a curved environment confirm the successful completion of the task, validating the proposed method's feasibility and effectiveness, supporting its potential for real-world application.

KW - Autonomous driving

KW - CMetric

KW - MPC

KW - Social behavior

KW - Trajectory planning

UR - https://www.scopus.com/pages/publications/85180122800

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DO - 10.1109/ICUS58632.2023.10318330

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T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

SP - 412

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BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

A2 - Song, Rong

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

Y2 - 13 October 2023 through 15 October 2023

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Shao C, Duan X , Zhou J, Zhao D. Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles. In Song R, editor, Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 412-416. (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023). doi: 10.1109/ICUS58632.2023.10318330

Trajectory Planning for Autonomous Overtaking on Curved Roads with Avoidance of Human Driving Vehicles and Static Obstacles

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Keywords

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