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Home / Proceedings / Proceedings of the AAAI Conference on Artificial Intelligence

A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving

February 1, 2023

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Authors

Yifan Zhang

City University of Hong Kong


Jinghuai Zhang

City University of Hong Kong


Jindi Zhang

City University of Hong Kong


Jianping Wang

City University of Hong Kong


Kejie Lu

University of Puerto Rico at Mayaguez


Jeff Hong

Fudan University


DOI:

10.1609/aaai.v34i01.5473


Abstract:

Sampling-based motion planning (SBMP) is a major trajectory planning approach in autonomous driving given its high efficiency in practice. As the core of SBMP schemes, sampling strategy holds the key to whether a smooth and collision-free trajectory can be found in real-time. Although some bias sampling strategies have been explored in the literature to accelerate SBMP, the trajectory generated under existing bias sampling strategies may lead to sharp lane changing. To address this issue, we propose a new learning framework for SBMP. Specifically, we develop a novel automatic labeling scheme and a 2-Stage prediction model to improve the accuracy in predicting the intention of surrounding vehicles. We then develop an imitation learning scheme to generate sample points based on the experience of human drivers. Using the prediction results, we design a new bias sampling strategy to accelerate the SBMP algorithm by strategically selecting necessary sample points that can generate a smooth and collision-free trajectory and avoid sharp lane changing. Data-driven experiments show that the proposed sampling strategy outperforms existing sampling strategies, in terms of the computing time, traveling time, and smoothness of the trajectory. The results also show that our scheme is even better than human drivers.

Topics: AAAI

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HOW TO CITE:

Yifan Zhang||Jinghuai Zhang||Jindi Zhang||Jianping Wang||Kejie Lu||Jeff Hong A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving Proceedings of the AAAI Conference on Artificial Intelligence (2020) 1202-1209.

Yifan Zhang||Jinghuai Zhang||Jindi Zhang||Jianping Wang||Kejie Lu||Jeff Hong A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving AAAI 2020, 1202-1209.

Yifan Zhang||Jinghuai Zhang||Jindi Zhang||Jianping Wang||Kejie Lu||Jeff Hong (2020). A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving. Proceedings of the AAAI Conference on Artificial Intelligence, 1202-1209.

Yifan Zhang||Jinghuai Zhang||Jindi Zhang||Jianping Wang||Kejie Lu||Jeff Hong. A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving. Proceedings of the AAAI Conference on Artificial Intelligence 2020 p.1202-1209.

Yifan Zhang||Jinghuai Zhang||Jindi Zhang||Jianping Wang||Kejie Lu||Jeff Hong. 2020. A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving. "Proceedings of the AAAI Conference on Artificial Intelligence". 1202-1209.

Yifan Zhang||Jinghuai Zhang||Jindi Zhang||Jianping Wang||Kejie Lu||Jeff Hong. (2020) "A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving", Proceedings of the AAAI Conference on Artificial Intelligence, p.1202-1209

Yifan Zhang||Jinghuai Zhang||Jindi Zhang||Jianping Wang||Kejie Lu||Jeff Hong, "A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving", AAAI, p.1202-1209, 2020.

Yifan Zhang||Jinghuai Zhang||Jindi Zhang||Jianping Wang||Kejie Lu||Jeff Hong. "A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving". Proceedings of the AAAI Conference on Artificial Intelligence, 2020, p.1202-1209.

Yifan Zhang||Jinghuai Zhang||Jindi Zhang||Jianping Wang||Kejie Lu||Jeff Hong. "A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving". Proceedings of the AAAI Conference on Artificial Intelligence, (2020): 1202-1209.

Yifan Zhang||Jinghuai Zhang||Jindi Zhang||Jianping Wang||Kejie Lu||Jeff Hong. A Novel Learning Framework for Sampling-Based Motion Planning in Autonomous Driving. AAAI[Internet]. 2020[cited 2023]; 1202-1209.


ISSN: 2374-3468


Published by AAAI Press, Palo Alto, California USA
Copyright 2022, Association for the Advancement of
Artificial Intelligence 1900 Embarcadero Road, Suite
101, Palo Alto, California 94303 All Rights Reserved

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