Wang, Youran (Technical University of Munich), Lin, Yuanfei (Technical University of Munich), Althoff, Matthias (Technische Universität München)

Interaction-Aware Trajectory Repair in Compliance with Formalized Traffic Rules

Scheduled for presentation during the Regular Session "Trajectory planning II" (ThAT9), Thursday, September 26, 2024, 11:50−12:10, 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 October 8, 2024

Abstract

Traffic-rule compliance is crucial for motion planning of automated vehicles. If an initially-planned trajectory violates traffic rules, we suggest to repair it instead of completely replanning it to save computational time. However, there exists no trajectory repair framework that considers the interactions among traffic participants, potentially leading to conservative driving behaviors. To address this issue, we propose for the first time an interaction-aware trajectory repair algorithm based on game theory. Our novel algorithm predicts the influence of the planned trajectory on other traffic participants and repairs it accordingly. To demonstrate our repair mechanism, we integrate it into a receding-horizon motion planning framework. Our approach is evaluated using the CommonRoad benchmark suite, revealing that, compared to the interaction-unaware repair strategy, our approach avoids unnecessarily conservative driving behaviors and achieves a higher repair rate.