2023
DOI: 10.48550/arxiv.2301.05393
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Interaction-Aware Trajectory Planning for Autonomous Vehicles with Analytic Integration of Neural Networks into Model Predictive Control

Abstract: Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow traffic throughput. Therefore, to avoid conservatism, we design an interaction-aware motion planner for the ego vehicle (AV) that interacts with surrounding vehicles to perform complex maneuvers in a locally optimal manner. Our planner uses a neural network-based interactiv… Show more

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