提出可变时间步的协同轨迹规划方法，提升多车协作效率。
V-STC: A Time-Efficient Multi-Vehicle Coordinated Trajectory Planning Approach
- 用可变时空走廊动态优化车辆路径与时间分配
- 相比传统方法减少整体占用时间，保障无碰撞
- 适合高密度交通场景下的实时自动驾驶规划
协调多辆自动驾驶汽车的运动需兼顾安全与时空利用效率。本文提出一种新型方法——可变时间步时空走廊（V-STC），以提升多车协同的时序效率。为每辆自动驾驶汽车构建V-STC时，将走廊立方体的空间位置与时间持续时间均设为决策变量。通过允许空间位置和时间步长动态调整，所构建的V-STC在保持时空域内无碰撞的前提下，有效降低了各车辆的总体时间占用。在此基础上，独立为每辆车规划出动态可行的轨迹。仿真结果表明，该方法能实现安全的多车协同，并较现有时空走廊（STC）方法获得更优的时间效率。
原文摘要 · Abstract (English)
Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed variable-time-step spatio-temporal corridor (V-STC), that enhances the temporal efficiency of multi-vehicle coordination. An optimization model is formulated to construct a V-STC for each AV, in which both the spatial configuration of the corridor cubes and their time durations are treated as decision variables. By allowing the corridor's spatial position and time step to vary, the constructed V-STC reduces the overall temporal occupancy of each AV while maintaining collision-free separation in the spatio-temporal domain. Based on the generated V-STC, a dynamically feasible trajectory is then planned independently for each AV. Simulation studies demonstrate that the proposed method achieves safe multi-vehicle coordination and yields more time-efficient motion compared with existing STC approaches.
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