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Collision risk modeling with multiple surrounding target vehicles (TVs) is essential for host vehicle (HV) trajectory planning, especially considering challenging TV lateral behaviors. Existing motion-compensated spatial methods ignore TV lateral motion states such as lateral velocity and yaw rate, so that TV lateral behavior cannot be described accurately. Aiming at high-accuracy collision risk modeling, a twisted Gaussian risk model using both longitudinal and lateral motion states for TV behavior description is proposed. Firstly, the HV-TVs system is treated as the superposition of multiple HV-TV units, and a Gaussian risk model is adopted for the collision risk description of the HV-TV unit. Then, by expanding the variances, TV longitudinal and lateral velocities are considered. At last, a twisted Gaussian risk model considering TV yaw rate is constructed based on the projection of the Gaussian risk model. With this twisted Gaussian risk model, TV longitudinal-lateral motion states are considered simultaneously, and TV behaviors can be described for HV-TVs collision risk modeling. For HV trajectory planning, trajectory candidates generated by the maneuver-inspired method are evaluated via the proposed risk model, and the safe and efficient trajectory is selected. Simulation and hardware-in-the-loop experimental results show that the proposed method considering TV longitudinal-lateral motion states allows HV to operate more safely and efficiently than the conventional method.
Zhou et al. (Thu,) studied this question.
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