Lateral Motion Planning of Autonomous Driving Vehicle for Obstacle Evasive Lane Keeping in Urban Environments
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880
- Publication code
- 20219008
- Paper/Info type
- Other International Conferences
- Pages
- 1-6(Total 6 p)
- Date of publication
- Sep 2021
- Publisher
- JSAE
- Language
- English
Detailed Information
| Author(E) | 1) Changhee Kim, 2) Kyongsu Yi |
|---|---|
| Affiliation(E) | 1) Seoul National University, 2) Seoul National University |
| Abstract(E) | This paper describes motion planning and control algorithm of an autonomous ground vehicle for urban autonomous driving. Urban autonomous driving requires sophisticated vehicle motion and control since obstacles with various size and speed may appear without notice. In case of lane keeping motion, the main objective of an autonomous driving vehicle is to maintain the center of the current lane. However, the subject vehicle should alter its relative lateral position if partially occupying obstacles appear within the driving lane in order to avoid collision. For general cases, the subject vehicle may perform a lane change maneuver and move to the side lane. However, performing evasive driving motion within a lane is more efficient compared with a lane change maneuver if a sufficient lateral clearance exists within the driving lane. In this paper, the desired lateral motion for in-lane evasive driving is generated using high definition map (HD map). The lateral position of the in lane obstacle can be obtained by fusing the map and perceived target information via cognitive sensors even when the lane marks are obscure. The steering angle input is computed using a model predictive controller to track the desired path. Simulation results suggest that the proposed algorithm successfully controls the subject vehicle to deal with multiple in lane targets and other nearby obstacles. |
