A safety-prioritized trajectory planning method based on multimodal predictive risk field for ramp merging

2026-08-12

PRE

Baofeng Sun

Hongchao Liang

Guodong Ma *

周户星 (Huxing Zhou)

Wenyu Yang

DOI：10.1016/j.aap.2026.108711

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• Propose a probabilistic risk assessment framework that fuses multimodal trajectory prediction and quantized risk fields. • Propose a multimodal trajectory prediction model based on a modified interactive multiple model Kalman filter. • Design two risk matrices for separate path and speed planning to optimize safety and efficiency. • Decouple path and speed planning and adopt dynamic − quadratic programming for high efficiency real-time operation.

Keywords:

Ramp merging

Trajectory planning

Multimodal trajectory prediction

Risk field

Connected and automated vehicles

A safety-prioritized trajectory planning method based on multimodal predictive risk field for ramp merging

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