Human-Machine Cooperative Trajectory Planning for Semi-Autonomous Driving Based on the Understanding of Behavioral Semantics

Abstract

This paper presents a novel cooperative trajectory planning approach for semi-autonomous driving. The machine interacts with the driver at the decision level and the trajectory generation level. To minimize conflicts between the machine and the human, the trajectory planning problem is decomposed into a high-level behavior decision-making problem and a low-level trajectory planning problem. The approach infers the driver’s behavioral semantics according to the driving context and the driver’s input. The trajectories are generated based on the behavioral semantics and driver’s input. The feasibility of the proposed approach is validated by real vehicle experiments. The results prove that the proposed human–machine cooperative trajectory planning approach can successfully help the driver to avoid collisions while respecting the driver’s behavior.