Human-Machine Cooperative Trajectory Planning and Tracking for Safe Automated Driving

This paper investigates a human-machine cooperative trajectory planning and tracking control approach for automated vehicles. The proposed method is developed based on novel algorithm of rapidly-exploring random (HM-RRT) path planning, together with the risk assessment driver behavior. First, driver’s behaviour assessed according to information predicted vehicle trajectory, identified safe driving area risks evaluated in both lateral longitudinal directions. Based expected task, when are by real-time assessment, then cooperation activated during planning. By HM-RRT, newly safety assurance mechanism generated, which incorporates desire actions automation’s corrective actions, ensure safety, stability smoothness human-vehicle system. simulation experimental results show that HM-RRT can effectively improve convergence rate reduce computation load, comparing conventional method. Beyond this, able simultaneously largely conflicts applications, demonstrating its feasibility effectiveness.