상세정보
학술대회
Trajectory Generation Method Using Bezier Spiral Curves for High-Speed On-Road Autonomous Vehicles
- 발행일
- 201408
- 출처
- International Conference on Automation Science and Engineering (CASE) 2014, pp.927-932
- 협약과제
- 14MC1300, ICT기반 차량/운전자 협력자율주행 시스템(Co-Pilot)의 판단/제어 기술 개발, 한우용
- 초록
- This paper proposes a trajectory generation method for high-speed autonomous vehicles in a structured on-road environment, such as a highway. The proposed method generates a smooth trajectory using G2 cubic B챕zier spiral smoothing, based on the current trajectory and the centerline model of a desired lane, and the velocity profile of the trajectory. Using the proposed method, an on-road vehicle can follow or change lanes safely. The performance of the proposed method was confirmed by offline experiments using a real data set and online experiments in a real environment.
- KSP 제안 키워드
- Autonomous vehicle, Data sets, High Speed, On-road vehicle, Online experiments, Real data, Real environment, Smooth trajectory, Trajectory generation method, Velocity profile, road environment