Fig. 1 Vehicle and sensors configuration
Fig. 2 Sensor detection range and FOV
Fig. 3 LiDAR data acquisition and point detection excluding ground and vehicles
Fig. 4 Grid based static obstacle map and initial safety envelop generation
Fig. 5 Safety envelop generation and local path generation based on safety envelop
Fig. 6 Viewpoint of the host vehicle
Fig. 7 Schematic diagram of front steering angle estimation
Fig. 8 Road map of Seoul National University
Fig. 9 Safety margin (a) on left side (b) on right side
Table 1 Sensor specifications for a test car
References
- Kala, R. and Warwick, K., 2013, "Motion planning of autonomous vehicles in a non-autonomous vehicle environment without speed lanes", Engineering Applications of Artificial Intelligence, Vol 26, pp. 1588-1601. https://doi.org/10.1016/j.engappai.2013.02.001
- Hu, X., Chen, L., Tang, B., Cao, B. and He, H., 2015, "Dynamic path planning for autonomous driving on various roads with avoidance static and moving obstacles", Mechanical systems and signal processing, Vol 100, pp. 482-500. https://doi.org/10.1016/j.ymssp.2017.07.019
- Erlien, S. M., Fujita, S. and Gerdes, J. C., 2015, "Shared steering control using safe envelopes for obstacle avoidance and vehicle stability", IEEE Transactions on Intelligent Transportation System.
- Katrakazas, C., Quddus, m., Chen, W. H. and Deka, L., 2015, "Real-time motion planning methods for autonomous on-road driving: state-of-the-art and future research directions", Transportation Research Part C, Vol. 60, pp. 416-442. https://doi.org/10.1016/j.trc.2015.09.011
- Zhou, Y., Xu, R., Hu, X. and Ye, Q., 2006, "A robust lane detection and tracking method based on computer vision", Measurement Science and Technology, Vol. 17, pp. 736-745. https://doi.org/10.1088/0957-0233/17/4/020
- Gu, Y., Hashimoto, Y., Hsu, L. T., Iryo-Asano, M. and Kamijo, S., 2016, "Human-like motion planning model for driving in signalized intersections", IATSS Research, Vol. 41, pp. 129-139. https://doi.org/10.1016/j.iatssr.2016.11.002
- Choi, J. W., Curry, R. and Elkaim, G., 2008, "Path Planning based on Bezier Curve for Autonomous Ground Vehicles", Advances in Electrical and Electronics Engineering 0 IAENG Special Edition of the World Congress on Engineering and Computer Science 2008.
- Li, X., Sun, Z., Cao, D., Liu, D. and He, H., 2015, "Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles", Mechanical systems and signal processing, Vol. 87, pp. 118-137. https://doi.org/10.1016/j.ymssp.2015.10.021
- 박종철, 채흥석, 이경수, 2017, "실도로 주행데이터 기반 차선변경 주행 특성 분석", 2017한국자동차안전학회 추계학술대회.
- Jung, C. H., 2015, "Design of Adaptive Steering Controller for Application to Automated Driving Vehicle", Seoul National University, Seoul, Korea.