Benciolini, Tommaso (Technical University of Munich), Fink, Michael (Technical University of Munich), Güzelkaya, Nehir (Technical University of Munich), Wollherr, Dirk (Technical University of Munich), Leibold, Marion (Technical University of Munich)

Safe and Non-Conservative Trajectory Planning for Autonomous Driving Handling Unanticipated Behaviors of Traffic Participants

Scheduled for presentation during the Regular Session "Trajectory planning I" (WeBT9), Wednesday, September 25, 2024, 15:50−16:10, Salon 17

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on December 26, 2024

Abstract

Trajectory planning for autonomous driving is challenging because the unknown future motion of traffic participants must be accounted for, yielding large uncertainty. Stochastic Model Predictive Control (SMPC)-based planners provide non-conservative planning, but do not rule out a (small) probability of collision. We propose a control scheme that yields an efficient trajectory based on SMPC when the traffic scenario allows, still avoiding that the vehicle causes collisions with traffic participants if the latter move according to the prediction assumptions. If some traffic participant does not behave as anticipated, no safety guarantee can be given. Then, our approach yields a trajectory which minimizes the probability of collision, using Constraint Violation Probability Minimization techniques. Our algorithm can also be adapted to minimize the anticipated harm caused by a collision. We provide a thorough discussion of the benefits of our novel control scheme and compare it to a previous approach through numerical simulations from the CommonRoad database.