Application of Scenario Complexity Evaluation in Trajectory Prediction and Automated Driving Decision-Making

The evaluation of scenario complexity is crucial for improving adaptability and flexibility of au⁃ tonomous vehicles in coping with complex environments and enhancing the applicability of the algorithms. A graph-based algorithm for evaluating scenario complexity is developed in this paper ，which fully considers interactive to⁃ pology and categorizes traffic scenarios into three complexity levels. The reasonability and effectiveness are validat⁃ ed in ramp merging scenarios. To demonstrate its scalability，the evaluation algorithm is applied in the development of the trajectory prediction and decision-making algorithms of automated driving. The proposed algorithms are then tested using natural driving datasets and vehicle-in-the-loop experiments. The results indicate that scenario complex⁃ ity evaluation enables early estimation of prediction uncertainty，enhances the real-time and optimality of decision-making algorithms. In data replay tests，the complexity assessment module can reduce the failure rate and collision rate during lane merging by approximately 38% and 92%，respectively，indicating promising application prospects. © 2024 SAE-China. All rights reserved.