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Autonomous vehicle trajectory planning method based on the driving risk field is one of the current research hotspots. Currently, mainstream driving risk field models (DRFM) rarely consider basic factors such as vehicle geometry and heading angle, and ignore the impact of driving behavior characteristics on the driving risk field, the accuracy of safety assessment needs to be improved. Therefore, this paper proposes an extended driving risk field model (EDRFM) that considers geometric dimensions, heading angle, and driving behavior characteristics, and provides the basis for determining geometric dimensions and shape parameters, expanding the applicability of the DRFM. On this basis, EDRFM is applied to vehicle trajectory planning, and it is found that the target trajectory (denoted as P1) obtained using EDRFM is not achievable and the vehicle is unstable. This paper further proposes an arc correction method considering vehicle dynamics constraints to correct P1 to get P2. To ensure that the trajectory planning results meet the driving stability and motion of the vehicle. The results show that the EDRFM model considering arc correction can effectively complete vehicle trajectory planning tasks in complex scenes, and ensure the feasibility of trajectory planning and vehicle driving stability.

Extension and Application of Driving Risk Field Model Considering Vehicle Motion Constraints