Planning of driverless vehicle motion trajectory taking into account its dimensional characteristics and under conditions of dynamically changing environment

摘要

This paper presents the solution for the task of the planning of the driverless vehicle (DV) driving trajectory for the modern road conditions. The rapidly-exploring random trees (RRT) algorithm consisting in the generation of the treetops under the equiprobability law and search for an optimum trajectory was used as a base. The minimum length acts as a criterion of optimality. The condition for the trajectory generation using the road map model is added to the new algorithm. Thereby, the problem of low processing (response) speed of the optimum trajectory search algorithm was solved.