Multiple-vehicle Trajectory Planning Framework Considering Vulnerable Road Users

This study aims to address the challenge of real-time trajectory planning for connected and automated vehicles (CAVs) while considering vulnerable road users (VRUs) in the environment. The problem lies in efficiently planning trajectories for CAVs in the presence of unpredictable VRUs, ensuring safety and avoiding crashes. The solution involves modeling the decision-making processes of CAVs and VRUs through game theory, incorporating the uncertainty of VRUs' motion using confidence intervals, and designing efficient heuristic algorithms for real-time problem solving. The project's expected outcomes include a technical paper describing the developed trajectory planning framework, along with simulation videos showcasing its effectiveness. This proposal seeks to fill a research gap by exploring novel solutions for this complex problem and contribute to the field of CAV operations. The proposed framework's concepts and validation methods are intended for educational purposes and potential practical implementation in future CAV operations.


  • English


  • Status: Active
  • Funding: $111896
  • Contract Numbers:


  • Sponsor Organizations:

    Office of the Assistant Secretary for Research and Technology

    University Transportation Centers Program
    Department of Transportation
    Washington, DC  United States  20590
  • Managing Organizations:

    Center for Pedestrian and Bicyclist Safety

    University of New Mexico
    Albuquerque, NM  United States  87131
  • Project Managers:

    Melendrez, Carman

    Stearns, Amy

  • Performing Organizations:

    University of Wisconsin-Milwaukee

    Department of Civil & Environmental Engineering/Institute for Physical Infrastructure and Transportation
    Milwaukee, WI  United States  53211
  • Principal Investigators:

    Shi, Tom

  • Start Date: 20230601
  • Expected Completion Date: 20240531
  • Actual Completion Date: 0
  • USDOT Program: University Transportation Centers Program

Subject/Index Terms

Filing Info

  • Accession Number: 01890181
  • Record Type: Research project
  • Source Agency: Center for Pedestrian and Bicyclist Safety
  • Contract Numbers: 69A3552348336
  • Files: UTC, RIP
  • Created Date: Aug 17 2023 8:40AM