Development, Verification and KPI Analysis of Infrastructure-Assisted Trajectory Planners

Abstract

Automated vehicles are expected to cause a paradigm shift in mobility and the way we travel. Particularly, the increasing penetration rates of vehicles with automated driving functions will introduce new challenges such as excessive rutting. Lack of wheel wander and keeping to the lane center perfectly is expected to lead to excessive road surface depression induced by automated vehicle platoons. Inspired by this, the EU project ESRIUM investigates infrastructure assisted routing recommendations. In this respect, specially designed ADAS functions are being developed with capabilities to adapt their behavior according to specific routing recommendations, which will help to reduce rutting as well as to improve safety. The current paper presents three rule-based trajectory planner design alternatives for a representative use case and, their performance comparisons based on a simulation framework.