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摘要
For the hidden collision risk caused by human driving vehicles（HDV）in mixed traffic，a centralized trajectory planning method for an unsignalized intersection considering driver error is proposed. Firstly，a multi-vehicle cooperative trajectory planning method is designed based on the optimal control framework，with the composite optimization objectives established based on motion time，fuel economy and driving delay. Secondly，the operating data sets of different drivers are collected through the real vehicle driving tests，then the Markov chain error transition matrix of acceleration error is established. Finally，the replanning of possible accident situation is calculated based on the results of vehicle collision estimation，and the simulation verification is carried out under different market penetration rate（MPR）conditions of autonomous vehicles. The simulation results show that the incidence of traffic collision and the average number of replanning are negatively correlated with the MPR. Moreover，the success rate of the planning at the intersection by the re-planning method can reach over 90%，with the fuel economy and other traffic indicators improved. ? 2023 SAE-China.
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