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.


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    Title :

    Integrated Threat Assessment for Trajectory Planning of Intelligent Vehicles


    Additional title:

    Sae Technical Papers


    Contributors:
    Zhu, Bing (author) / Jiang, Qingkun (author) / Deng, Weiwen (author)

    Conference:

    SAE 2016 World Congress and Exhibition ; 2016



    Publication date :

    2016-04-05




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Integrated Threat Assessment for Trajectory Planning of Intelligent Vehicles

    Jiang, Qingkun / Deng, Weiwen / Zhu, Bing | British Library Conference Proceedings | 2016


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    Free access