A Motion Planning Framework with Learning Based Trajectory Prediction in Self Driving

Efficient and reliable motion planning system is critical in changing environments for autonomous driving. In this paper, we present a motion planning algorithm for dynamic scenarios through Gaussian process(GP) path planner and trajectory predictor. Firstly we plan a feasible path with GP planner. Then, the predictor generates several possible trajectories of other participants and we use a S-T graph speed planner to produce the speed profile with predicted results. Finally, simulation results demonstrate that our algorithm can improve the success rate of random driving tasks compared to the commonly used constant velocity assumption.