Research on Path Planning for Autonomous Vehicles Based on Acceleration for Collision Avoidance
衝突回避加速度に基づいた自動運転車のパスプランニングに関する研究
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- Publication code
- 20214931
- Paper/Info type
- JSAE Transaction
Vol.52 No.6
- Pages
- 1354-1359(Total 6 p)
- Date of publication
- Nov 2021
- Publisher
- JSAE
- Language
- Japanese
Detailed Information
| Category(J) | 研究論文 Translation |
|---|---|
| Category(E) | ResearchPaper |
| Author(J) | 1) 岸野 周平, 2) 菅沢 深, 3) 今関 隆志, 4) 毛利 宏 |
| Author(E) | 1) Shuhei Kishino, 2) Fukashi Sugasawa, 3) Takashi Imaseki, 4) Hiroshi Mouri |
| Affiliation(J) | 1) 東京農工大学, 2) 東京農工大学, 3) 東京農工大学, 4) 東京農工大学 |
| Abstract(J) | 安全な走行のために, 自動運転車は先読み運転を行う必要がある. そこで, 「危険が生じる可能性は事前に察知して，その領域には入らない走行」を可能とする軌道生成手法を提案する. ここでは追い抜きの場面に関して，危険発生を仮定して算出した衝突回避加速度ACAに基づいた軌道を生成する. Translation |
| Abstract(E) | In this paper, a path planning method is proposed that prepares to avoid the danger. Path planning is performed based on the acceleration for collision avoidance (ACA) that represents the severity of potential danger. ACA is the acceleration required to avoid collision with the object vehicle. This paper focuses on the driving scenario for overtaking. Vehicle driving scenario is simulated with proposed method. As a result, the ego vehicle's velocity and position are planned so that the vehicle can avoid object vehicle's lane change at any time. This path planning method and its simulation results are discussed. |
