Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 23, Issue 2, Pages 1030-1043Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2020.3019514
Keywords
Trajectory; Planning; Safety; Three-dimensional displays; Vehicle dynamics; Splines (mathematics); Strips; Trajectory planning; spatio-temporal map; safety strip; collision avoidance
Categories
Funding
- Program for Changjiang Scholars and Innovative Research Team in University [IRT-16R06, T2014224]
- National Natural Science Foundation of China [61903034, 61973034, U1913203, 91120003]
- China PostDoctoral Science Foundation-funded Project [2019TQ0035]
- Beijing Institute of Technology Research Fund Program for Young Scholars
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This paper proposes a trajectory planning framework based on spatio-temporal map to generate efficient and safety guaranteed trajectories in complex environments. The framework consists of rough search, fine optimization, and collision avoidance sections. Experiments demonstrate that the framework can adapt well to different types of complex traffic scenes.
Trajectory planning for the unmanned vehicle in the complex environment has always been a challenging task. Planned trajectory with the corresponding target velocity or acceleration sequence must be collision-free guaranteed and as comfortable as possible on the premise of obeying the traffic rules and interaction with other dynamic social vehicles. To meet this requirement, this paper proposes a framework for trajectory planning based on spatio-temporal map. Due to the time layer architecture in the map, the trajectory can be generated with velocity and acceleration simultaneously, and the whole trajectory is constrained within a 'safety strip', resulting in an efficient and safety guaranteed trajectory. The framework is composed of three sections: rough search, fine optimization and safety strip-based collision avoidance. For rough search, we propose an improved A* algorithm implemented in the discrete time layer to find out the suboptimal states efficiently. In fine optimization, the B-spline curve is exploited to connect the searched states into a continuous trajectory. And the optimal control points of B-spline are further grouped into several segments, forming the safety strip which is actually the distribution space of the planned trajectory. If necessary, an adjustment will be applied to keep the strip away from the collision zone, making the entire trajectory completely collision-free. Experiments on both public dataset and self-driving simulator show that the proposed framework can adapt to different kinds of complex traffic scenes well.
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