A Trajectory Planning Method for Proactive Driving Support Systems in Urban Areas Based on An Inverse Collision Probability Model

先読み運転支援を可能にするための逆衝突確率モデルを用いた 経路計画手法に関する研究

This paper presents a path planning method for driver assistance systems in mixed urban scenarios. The authors proposed an inverse collision probability model based motion planner to generate the trajectory, including the positions to path through multiple traffic participants. To design the probabilistic models which represent an obstacle avoidance maneuver, they collect and analyze driving data of expert driver. Then, the authors consider the direction and the value of time to collision of the target traffic participant. Then, they show the difference of driving behaviors of the expert drivers according to the difference of the direction of the target. The proposed method generates the optimal trajectory plan by using the global optimization algorithm named Belief Propagation. Finally, the authors show the evaluation experiment that compares the difference between the trajectories generated by the proposed method and natural driving data.本研究では運転支援システムに用いる経路計画手法を提案する.交通参加者の周辺を走行する際の安全性を評価するために,逆衝突確率モデルとよぶモデルを構築することで,複数の交通参加者が存在する環境に対して効率的に経路を生成する.評価実験として,提案手法が生成する経路と実路の走行データの比較を行う.

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  • English
  • Japanese

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  • Accession Number: 01676672
  • Record Type: Publication
  • Source Agency: Japan Science and Technology Agency (JST)
  • Files: TRIS, JSTAGE
  • Created Date: May 15 2018 3:08PM