In recent years, Intelligent cooperative vehicle-infrastructure system is a hot research direction in the field of ITS. There are many risks on the road under the environment of cooperative vehicle-infrastructure. The trajectory planning strategy affects vehicle safety and traffic efficiency. However, it is more and more difficult for the Autonomous Vehicle to plan a reasonable route to avoid risks in the face of increasingly complex road conditions. We find a novel and systematic method to assess road traffic risk and use the corresponding algorithm to plan the automatic driving trajectory. Specifically, considering the impact of various traffic factors on driving safety, a special model is established to introduce the concept of the repulsive force field and gravitational field, the former also called driving risk field includes potential energy field, kinetic energy field, and behavioral field. Considering tendency to the target, reducing the driving risk and keeping the stability of the vehicle as the optimization goal in the process of trajectory planning. Through solving the problem to obtain the control variables such as the front-wheel rotation angle, and finally realizing the trajectory planning of the autonomous vehicle in real-time. Simulation results show that the algorithm designed in this paper can achieve a trajectory planning for autonomous vehicle under the condition of ensuring traffic safety. The new method can be more suitable for the vehicle dynamics model and generates a smoother path.

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