This paper reports an effort to improve plan of vehicle trajectory using an approach with rapidly-exploring random trees (RRT), which has been widely adopted in the prior art for complex and dynamic traffic environment. Design and implement of an integrated threat assessment is presented that evaluates threats of the trajectory. A node and trajectory evaluation index was introduced into the proposed RRT algorithm to connect an appropriate node and select the best trajectory. The contribution of this paper is on the threat assessment that takes into account not only obstacle avoidance but also stability. The simulation is conducted and the results show that the proposed method works as expected and is valid and effective.
Integrated Threat Assessment for Trajectory Planning of Intelligent Vehicles
Sae Technical Papers
SAE 2016 World Congress and Exhibition ; 2016
2016-04-05
Aufsatz (Konferenz)
Englisch
Integrated Threat Assessment for Trajectory Planning of Intelligent Vehicles
British Library Conference Proceedings | 2016
|DSpace@MIT | 2009
|UAV Dynamic Trajectory Planning for Sudden Threat Detection
Springer Verlag | 2023
|Probabilistic Situation Assessment for Intelligent Vehicles with Uncertain Trajectory Distribution
Transportation Research Record | 2021
|