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Outline
To address the uncertainty of driving intentions among general vehicles in complex traffic environments, this paper proposes a path planning method based on delayed decision-making. This method generates a trajectory tree comprising an initial shared trajectory segment and branching trajectories corresponding to different potential actions of social vehicles; employs a Gaussian mixture model to predict the probability of social vehicle driving intentions; and determines branching points based on the state deviations of the predicted trajectories. Depending on the requirements of different scenarios, delayed decision-making mechanisms are incorporated into both path planning and speed planning to implement lane-changing and deceleration-based yielding strategies. The results of the joint simulation using MATLAB/Simulink and Carsim indicate that, compared to traditional methods that generate a single trajectory, the proposed approach reduces lateral velocity, acceleration, and their rates of change by 9.2%, 51.7%, and 63.6%, respectively, in lane-changing avoidance scenarios, thereby improving the smoothness of the lane-changing process and ride comfort. In deceleration avoidance scenarios, longitudinal acceleration and its rate of change are reduced by 35% and 61.5%, respectively, significantly improving the smoothness of the deceleration process.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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