Browse > Article
http://dx.doi.org/10.22680/kasa2019.11.2.017

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

Yoo, Jinsoo (서울대학교 기계항공공학부 차량 동역학 및 제어 연구실)
Kang, Kyeongpyo (한국교통연구원)
Yi, Kyongsu (서울대학교 기계항공공학부 차량 동역학 및 제어 연구실)
Publication Information
Journal of Auto-vehicle Safety Association / v.11, no.2, 2019 , pp. 17-22 More about this Journal
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.
Keywords
Autonomous vehicle; Safety envelope; Path generation; Path tracking;
Citations & Related Records
연도 인용수 순위
  • Reference
1 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.   DOI
2 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.   DOI
3 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.
4 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.
5 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.   DOI
6 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.   DOI
7 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.   DOI
8 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.   DOI
9 박종철, 채흥석, 이경수, 2017, "실도로 주행데이터 기반 차선변경 주행 특성 분석", 2017한국자동차안전학회 추계학술대회.
10 Jung, C. H., 2015, "Design of Adaptive Steering Controller for Application to Automated Driving Vehicle", Seoul National University, Seoul, Korea.