Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the high-dimensional conflicts and further reduce the difficulty of obtaining feasible trajectories. Therefore, this paper proposes a novel hierarchical method based on interactive spatio-temporal corridors (ISTCs). In the first layer, based on the initial guidance trajectories, Mixed Integer Quadratic Programming is designed to construct ISTCs capable of resolving conflicts in generic multi-vehicle scenarios. And then in the second layer, Non-Linear Programming is settled to generate in-corridor trajectories that satisfy the vehicle dynamics. By introducing ISTCs, the multi-vehicle coordinated motion planning problem is able to be decoupled into single-vehicle trajectory optimization problems, which greatly decentralizes the computational pressure and has great potential for real-world applications. Besides, the proposed method searches for feasible solutions in the 3-D $(x,y,t)$ configuration space, preserving more possibilities than the traditional velocity-path decoupling method. Simulated experiments in unsignalized intersection and challenging dense scenarios have been conduced to verify the feasibility and adaptability of the proposed framework.

翻译：多车辆协调运动规划一直面临着如何在非完整动态约束下安全高效地解决冲突的挑战。为多车辆构建空时走廊能够分离高维冲突，进一步降低获得可行轨迹的难度。因此，本文提出了一种基于交互式空时走廊（ISTC）的新型分层方法。在第一层中，基于初始引导轨迹，设计了混合整数二次规划来构建可应对多种车辆场景冲突的ISTC。然后在第二层中，解决非线性规划来生成满足车体动力学要求的走廊内轨迹。通过引入ISTC，多车辆协调运动规划问题能够被分解成单车辆轨迹优化问题，极大地分散了计算压力，具有在实际应用中的巨大潜力。此外，所提出的方法在三维$(x,y,t)$配置空间中搜索可行解，比传统的速度-路径分离方法保留了更多可能性。在未信号化路口和具有挑战性的密集场景中进行了模拟实验，以验证所提出的框架的可行性和适应性。