提出一种实时安全变道规划器，专为高速匝道强行并入设计。
SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging
- 基于格栅的规划方法，动态调整代价函数应对强制变道挑战。
- 仿真中100%成功率达最优，合并时间最短，优于基线方法。
- 适合自动驾驶高速并入场景，强调安全与舒适性兼顾。
高速匝道并入是一项复杂驾驶任务，需识别安全间隙、调整车速、常通过交互创造并入空间，并在有限时间内完成并入操作，同时保障安全与驾乘舒适性。本文提出一种基于格栅的实时安全并入规划器（SMART-Merge），专门用于实现安全且舒适的强制并入。通过针对强制并入特点动态调整代价项，并引入期望车速启发式策略，该规划器使自车高效完成并入，显著缩短合并时间。我们通过数百个高速并入场景的高保真CarMaker仿真验证了该方法的有效性与效率。结果表明，相比基线方法，本方法实现了100%的成功率，并在最短时间内完成并入，充分证明其处理复杂强制并入任务的能力，为自动驾驶高速并入提供了可靠、鲁棒的解决方案。仿真视频见 https://sites.google.com/view/smart-merge-planner/home。
原文摘要 · Abstract (English)
Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuver within a limited time window while maintaining safety and driving comfort. In this paper, we introduce a Safe Merging and Real-Time Merge (SMART-Merge) planner, a lattice-based motion planner designed to facilitate safe and comfortable forced merging. By deliberately adapting cost terms to the unique challenges of forced merging and introducing a desired speed heuristic, SMART-Merge planner enables the ego vehicle to merge successfully while minimizing the merge time. We verify the efficiency and effectiveness of the proposed merge planner through high-fidelity CarMaker simulations on hundreds of highway merge scenarios. Our proposed planner achieves the success rate of 100% as well as completes the merge maneuver in the shortest amount of time compared with the baselines, demonstrating our planner's capability to handle complex forced merge tasks and provide a reliable and robust solution for autonomous highway merge. The simulation result videos are available at https://sites.google.com/view/smart-merge-planner/home.
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