Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Research of Obstacle Detection and Path Planning for Lane Change of Autonomous Vehicle in Urban Environment

자율주행 자동차의 실 도로 차선 변경을 위한 장애물 검출 및 경로 계획에 관한 연구

  • Oh, Jae-Saek (Graduate School of Automotive Engineering, Kookmin University) ;
  • Lim, Kyung-Il (Graduate School of Automotive Engineering, Kookmin University) ;
  • Kim, Jung-Ha (Graduate School of Automotive Engineering, Kookmin University)
  • 오재석 (국민대학교 자동차공학전문대학원) ;
  • 임경일 (국민대학교 자동차공학전문대학원) ;
  • 김정하 (국민대학교 자동차공학전문대학원)
  • Received : 2014.11.15
  • Accepted : 2014.12.30
  • Published : 2015.02.01
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Abstract

Recently, in automotive technology area, intelligent safety systems have been actively accomplished for drivers, passengers, and pedestrians. Also, many researches are focused on development of autonomous vehicles. This paper propose the application of LiDAR sensors, which takes major role in perceiving environment, terrain classification, obstacle data clustering method, and local map building for autonomous driving. Finally, based on these results, planning for lane change path that vehicle tracking possible were created and the reliability of path generation were experimented.

Keywords

References

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