V-STC: A Time-Efficient Multi-Vehicle Coordinated Trajectory Planning Approach
Pengfei Liu, Jialing Zhou, Yuezu Lv, Guanghui Wen, Tingwen Huang
TLDR
V-STC is a new multi-vehicle trajectory planning method that uses variable-time-step spatio-temporal corridors to improve temporal efficiency and safety.
Key contributions
- Introduces V-STC for time-efficient multi-vehicle coordinated trajectory planning.
- Optimizes spatio-temporal corridor cubes and their time durations as decision variables.
- Reduces overall temporal occupancy while maintaining collision-free separation.
- Enables independent, dynamically feasible trajectory planning for each autonomous vehicle.
Why it matters
This paper addresses the critical need for efficient and safe multi-vehicle coordination in autonomous systems. By optimizing both spatial and temporal aspects, V-STC offers a novel solution that enhances traffic flow. Its improved temporal efficiency makes it valuable for real-world AV deployments.
Original Abstract
Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed variable-time-step spatio-temporal corridor (V-STC), that enhances the temporal efficiency of multi-vehicle coordination. An optimization model is formulated to construct a V-STC for each AV, in which both the spatial configuration of the corridor cubes and their time durations are treated as decision variables. By allowing the corridor's spatial position and time step to vary, the constructed V-STC reduces the overall temporal occupancy of each AV while maintaining collision-free separation in the spatio-temporal domain. Based on the generated V-STC, a dynamically feasible trajectory is then planned independently for each AV. Simulation studies demonstrate that the proposed method achieves safe multi-vehicle coordination and yields more time-efficient motion compared with existing STC approaches.
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