Abstract
One of the challenges of autonomous ground vehicles (AGVs) is to interact with human driven vehicles in the traffic. This paper develops defensive driving strategies for AGVs to avoid problematic vehicles in the mixed traffic. A multi-objective optimization algorithm for local trajectory planning is proposed. The dynamic predictive control is used to derive optimal trajectories in a rolling horizon. The intelligent driver model and lanechanging rules are employed to predict the movement of the vehicles. Multiple performance objectives are optimized simultaneously, including traffic safety, transportation efficiency, driving comfort and path consistency. The multi-objective optimization problem is solved with the cell mapping method. Different and relatively simple scenarios are created to test the effectiveness of the defensive driving strategies. Extensive experimental simulations show that the proposed defensive driving strategy is promising and may provide a new tool for designing the intelligent navigation system that helps autonomous vehicles to drive safely in the mixed traffic.
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