Route Planning for Autonomous Driving Based on Traffic Information via Multi-Objective Optimization

Abstract

Route planning for autonomous driving is a global road planning method based on a given starting point and target point combined with current traffic flow information. The optimal global route can reduce traffic jams and improve the safety and economy of autonomous vehicles. The current optimization method of route planning for autonomous driving only considers a single objective or a chain of single objectives, which cannot meet the requirements of drivers. In this paper, we devise a general framework for the route planning method based on multi-objective optimization. Different from planning optimization based on not only traffic information, the framework considers travel time, distance, cost and personal preference, but focuses more on vehicle status and driver requirements. We use an improved depth-first search algorithm to find the optimal route. The evaluations of our method on real-world traffic data indicate the feasibility and applicability of the framework. Our study contributes to a better understanding of route planning and reveals that exploitation of personal preference can more flexibly configure the corresponding route according to the driver’s requirements.

Keywords

• route planning
• autonomous driving
• multi-objective optimization