Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Longitudinal Motion Planning Strategy for Autonomous Driving in Non-signalized Crosswalk

비신호 횡단보도 환경 내 자율주행을 위한 종방향 거동 전략 연구

  • Received : 2023.04.05
  • Accepted : 2024.04.03
  • Published : 2024.06.30
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Abstract

This paper presents a method of longitudinal motion planning of autonomous vehicles to deal with the non-signalized crosswalk environment. Based on the traffic laws, vehicles should slow down when passing the non-signalized crosswalk to prepare for situations where a nearby pedestrian starts to cross. If a pedestrian is in the crossing phase, vehicles should stop in front of the stop-line and wait until the pedestrian finishes the crossing maneuver. To realize these behaviors in autonomous vehicles, the driving mode and corresponding driving strategy are determined when vehicles encounter the crosswalk. The driving mode is determined according to the behavioral status of the nearby pedestrian. Longitudinal motion for the stopping or passing maneuver is planned according to the determined driving mode. The proposed algorithm has been validated via autonomous driving tests with our test vehicle in a real world. The test results show that the proposed algorithm enables the test vehicle to follow the traffic laws and behave safely against crossing pedestrians in the non-signalized crosswalk.

Keywords

Acknowledgement

본 연구는 국토교통부/국토교통과학기술진흥원의 지원으로 수행되었음(과제번호 22AMDP-C162183-02).

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