Systems and methods for driving trajectory planning of an automated vehicle. The system includes an electronic processor configured to determine a lane segment graph indicating allowable transitions between a plurality of lane segments. The electronic processor is also configured to determine a current type of traffic flow situation. The electronic processor is further configured to determine weighting factors for each of the allowable transitions based on aggregate observations of previous real-world traffic flow transitions for the current type of traffic flow situation. Each of the weighting factors indicate a likelihood of transition for a respective one of the allowable transitions. The electronic processor is also configured to determine a weighted lane segment graph based at least in part on the weighting factors. The electronic processor is further configured to determine a driving trajectory of the automated vehicle based at least in part on the weighted lane segment graph.


    Access

    Download


    Export, share and cite



    Title :

    COURTEOUS TRAJECTORY PLANNING FOR AUTOMATED VEHICLES


    Contributors:

    Publication date :

    2021-11-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06K Erkennen von Daten , RECOGNITION OF DATA



    Courteous trajectory planning for automated vehicles

    BOWYER MICHAEL JOHN / NUTTLE BENJAMIN THOMAS | European Patent Office | 2021

    Free access

    Towards Courteous Behavior and Trajectory Planning for Automated Driving

    Speidel, Oliver / Graf, Maximilian / Phan-Huu, Thanh et al. | IEEE | 2019


    Courteous Autonomous Cars

    Sun, Liting / Zhan, Wei / Tomizuka, Masayoshi et al. | ArXiv | 2018

    Free access

    Trajectory Planning for Automated Vehicles in Overtaking Scenarios

    Graf, Maximilian / Speidel, Oliver / Dietmayer, Klaus | IEEE | 2019


    Trajectory Planning for Automated Vehicles using Driver Models

    Graf, Maximilian / Speidel, Oliver / Ziegler, Julius et al. | IEEE | 2018