METHOD AND APPARATUS FOR PLANNING OPTIMIZATION-BASED PATH FOR AUTONOMOUS DRIVING OF MANLESS DRIVING VEHICLE

摘要

The present invention relates to a method and an apparatus for planning an optimization-based path for autonomous driving of a manless driving vehicle which search for an optimized path by considering a kinematics model and dynamic characteristics of the manless driving vehicle and an environment recognition result. The method for planning an optimization-based path for autonomous driving of a manless driving vehicle according to the present invention comprises: an initial control input generating step (S110) of generating a plurality of control inputs based on a current state of the manless driving vehicle; a future state information predicting step (S120) of predicting future state information for the control inputs generated in the initial control input generating step; a dynamic characteristics checking step (S130) of checking whether the future state information of the manless driving vehicle satisfies the dynamic characteristics of the manless driving vehicle; an optimizing step (S140) of obtaining a cost function (J) of the manless driving vehicle based on the future state information, the dynamic characteristics of the manless driving vehicle, and environment recognition results measured by sensors installed in the vehicle; an optimum condition satisfaction determining step (S150) of determining whether each of a plurality of cost functions obtained in the optimizing step (S140) satisfies an optimizing condition; and an optimum path generating step (S160) of calculating an optimum path of the manless driving vehicle using control inputs satisfying the optimizing condition.;COPYRIGHT KIPO 2016