Autonomous Vehicle Motion Planning

Collision Avoidance Autonomous Vehicle Motion Prediction and Planning

S. Zhang, S. Wang*, S. Yu, J.Q. Yu, and M. Wen, "Collision avoidance predictive motion planning based on integrated perception and V2V communication," IEEE Transactions on Intelligent Transportation System, vol. 23, no. 7, pp. 9640-9653, 2022.

We design an autonomous vehicle motion planning strategy based on motion prediction and V2V communication. The method leverages optimization and deep learning techniques to realize efficient and safe automated lane-change. We implement the motion planning algorithm in Car Learning to Act (CARLA) system under various traffic conditions. Simulations show that the proposed scheme can generate smooth collision-free trajectories for navigation even under high sensing uncertainties.