S4TP: Social-Suitable and Safety-Sensitive Trajectory Planning for Autonomous Vehicles

arXiv:2404.11946v1 Announce Type: cross
Abstract: In public roads, autonomous vehicles (AVs) face the challenge of frequent interactions with human-driven vehicles (HDVs), which render uncertain driving behavior due to varying social characteristics among humans. To effectively assess the risks prevailing in the vicinity of AVs in social interactive traffic scenarios and achieve safe autonomous driving, this article proposes a social-suitable and safety-sensitive trajectory planning (S4TP) framework. Specifically, S4TP integrates the Social-Aware Trajectory Prediction (SATP) and Social-Aware Driving Risk Field (SADRF) modules. …

abstract arxiv autonomous autonomous vehicles avs behavior challenge cs.cv cs.ro driving face human humans interactions interactive planning public risks roads safety social traffic trajectory type uncertain vehicles