Navigating automated driving systems (ADSs) through complex driving environments is difficult. Predicting the driving behavior of surrounding human-driven vehicles (HDVs) is a critical component of an ADS. This paper proposes an enhanced motion-planning approach for an ADS in a highway-merging scenario. The proposed enhanced approach utilizes the results of two aspects: the driving behavior and long-term trajectory of surrounding HDVs, which are coupled using a hierarchical model that is used for the motion planning of an ADS to improve driving safety.

翻译：在复杂驾驶环境中导航自动驾驶系统具有挑战性。预测周围人类驾驶车辆的驾驶行为是自动驾驶系统的关键组成部分。本文提出了一种面向高速公路合流场景的自动驾驶系统增强运动规划方法。该增强方法利用两方面的结果：周围人类驾驶车辆的驾驶行为与长期轨迹，通过用于自动驾驶系统运动规划的分层模型将两者耦合，以提升驾驶安全性。