Navigating Automated Vehicle through Expressway Toll Gate

摘要

Path planning for automated driving vehicle in wide, unstructured toll gate is a difficult task while several surrounding vehicles are driving with almost random behavior. To deal with this problem, we propose a decision tree based method to control speed & acceleration of the host vehicle along a predefined path. Our proposed method is able to reach the destination without collision and with minimum changes in acceleration or deceleration. To validate the performance, we simulated the toll gate region in Nagoya Expressway, where driving area is wide with no lane markers. Simulation results show that the host vehicle is able to avoid potential collisions through acceleration or deceleration, which is determined by the proposed decision tree. Speed profiles show that host vehicle is driving in a comfortable range of acceleration/deceleration.