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Design of Near-Minimum Time Path Planning Algorithm for Autonomous Driving

무인 자율 주행을 위한 최단 시간 경로계획 알고리즘 설계

  • Kim, Dongwook (School of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Kim, Hakgu (School of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Yi, Kyongsu (School of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.)
  • 김동욱 (서울대학교 기계항공공학부) ;
  • 김학구 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부)
  • Received : 2012.05.03
  • Accepted : 2013.02.04
  • Published : 2013.05.01

Abstract

This paper presents a near-minimum time path planning algorithm for autonomous driving. The problem of near-minimum time path planning is an optimization problem in which it is necessary to take into account not only the geometry of the circuit but also the dynamics of the vehicle. The path planning algorithm consists of a candidate path generation and a velocity optimization algorithm. The candidate path generation algorithm calculates the compromises between the shortest path and the path that allows the highest speeds to be achieved. The velocity optimization algorithm calculates the lap time of each candidate considering the vehicle driving performance and tire friction limit. By using the calculated path and velocity of each candidate, we calculate the lap times and search for a near-minimum time path. The proposed algorithm was evaluated via computer simulation using CarSim and Matlab/Simulink.

Keywords

Near-Minimum Time Path Planning;Path Tracking;Autonomous Driving;Path Optimization;Optimal Preview Control;Model Free Control

Acknowledgement

Supported by : Korea Research Foundation, National Research Foundation of Korea(NRF)

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