안전 영역 기반 자율주행 차량용 주행 경로 생성 및 추종 알고리즘 성능평가 연구

Performance Evaluation of Safety Envelop Based Path Generation and Tracking Algorithm for Autonomous Vehicle

Abstract

This paper describes the tracking algorithm performance evaluation for autonomous vehicle using a safety envelope based path. As the level of autonomous vehicle technologies evolves along with the development of relevant supporting modules including sensors, more advanced methodologies for path generation and tracking are needed. A safety envelope zone, designated as the obstacle free regions between the roadway edges, would be introduced and refined for further application with more detailed specifications. In this paper, the performance of the path tracking algorithm based on the generated path would be evaluated under safety envelop environment. In this process, static obstacle map for safety envelope was created using Lidar based vehicle information such as current vehicle location, speed and yaw rate that were collected under various driving setups at Seoul National University roadways. A level of safety was evaluated through CarSim simulation based on paths generated with two different references: a safety envelope based path and a GPS data based one. A better performance was observed for tracking with the safety envelop based path than that with the GPS based one.

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