An algorithm of cooperative V2V trajectory planning on a winding road considering the drivers’ characteristics

A cooperative trajectory planning algorithm for two connected vehicles driven on a winding road is presented in this paper, considering drivers' characteristics of preview action, time delay, and steering gain. The algorithm of cooperative game is introduced to plan trajectories without collision with each other for the involved encountering vehicles, with satisfaction of requirements including vehicle stability and road-departure avoidance. The proposed trajectory planning algorithm is then converted to a Model Predictive Control (MPC) problem and solved with the concept of Pareto Optimality. The proposed algorithm is verified with simulations of lane exchanging on an arc shaped road. Results show that the algorithm can accomplish the task of trajectory planning on a winding road successfully, with considering the driver's characteristics.