Trajectory Planning of Multi-intelligent Connected Vehicles: The State of the Art and Perspectives

doi:10.3901/JME.2024.10.129

Abstract

Abstract: Trajectory planning is a basic function of autonomous vehicles(AVs). With the development of vehicle-to-everything(V2X) technology, many AVs are equipped with intelligent connected capabilities, and these vehicles are called connected autonomous vehicles(CAVs). The intelligent connected technology can bring much information to AVs, enhance cooperation between different AVs and provide unprecedented opportunities for planning vehicle trajectories to reduce travel time, improve driving comfort and increase safety. Compared to traditional single-vehicle trajectory planning, multi-vehicle trajectory planning can fully utilize the technical advantages of CAVs and plan suitable trajectories for multiple AVs. Typical multi-vehicle trajectory planning application scenarios are overviewed according to structured and unstructured scenarios, and different cooperative planning strategies and characteristics of multi-vehicle trajectory planning are summarized. Various approaches used for multi-vehicle trajectory planning are summarized including traditional pipeline planning methods and end-to-end methods, and experiments on multi-vehicle trajectory planning are generalized. Based on the current research status, the challenges and future research directions of multi-vehicle trajectory planning are presented to provide inspiration and reference for researchers in the field of intelligent transportation systems.

Key words: autonomous vehicle, trajectory planning, connected automated vehicles

CLC Number:

U495

JI Yangjie, ZHANG Xinyu, YANG Ziru, ZHOU Shanghang, HUANG Yanjun, CAO Jianyong, XIONG Lu, YU Zhuoping. Trajectory Planning of Multi-intelligent Connected Vehicles: The State of the Art and Perspectives[J]. Journal of Mechanical Engineering, 2024, 60(10): 129-146.

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