$DBO$ Trajectory Planning and $HAHP$ Decision-Making for Autonomous Vehicle Driving on Urban Environment

IEEE Access

Hongtu Zhou¹  Peizhi Zhang²  Zhiqiang Fu²  Dequan Zeng²  Lu Xiong²  Zhuoping Yu² 

[1] College of Electronics and Information Engineering, Tongji University, Shanghai, China;School of Automotive Studies, Tongji University, Shanghai, China;

关键词: Autonomous vehicle;    trajectory planner;    decision maker;    urban environment;    driving behavior orient;    hierarchical analytic hierarchy process;   

DOI  :  10.1109/ACCESS.2019.2953510

来源: DOAJ

【 摘 要 】

A novel driving behaviour oriented (DBO) trajectory planner and hierarchical analytic hierarchy process (HAHP) decision maker are presented for intelligent vehicle. Since driving on structural road should satisfy actuator constraints and improve comfortableness as soon as possible, which strictly obeys traffic rules other than making traffic mess, it is rather than purely pursuing the shortest route/time. By analysis traffic rules, the DBO framework is employed to produce trajectories. To make trajectory drivable, cubic B-spline and clothoid curve are modeled to keep continuous curvature, and cubic polynomial curve is to schedule velocity profile satisfying stability and comfort. To pick out the best trajectory, HAHP decision maker is developed to evaluate the candidates. The first layer selects optimal paths considering smoothness and economy, and the second layer selects best trajectory taking smoothness, comfortableness and economy in account. Moreover, DBO rapidly exploring random tree (RRT) replanner is embedded to ensure algorithm completeness. Finally, several typical scenarios are designed to verify the real-time and reliability of the algorithm. The results illustrate that the algorithm has highly real-time and stability evaluated by Statistical Process Control method as the probability for the peak time less than 0.1s is 100% except three obstacles avoidance scenario is 59.31% in 1000 cycles. Since the planned trajectory is smooth enough and satisfy the constraints of the actuator, the mean lateral tracking error is less than 0.2m with 0.5m peak error, and the mean speed error less than 0.5km/h with 1.5km/h peak error for all scenarios.

【 授权许可】

Unknown