SYSTEM AND METHOD FOR PATH PLANNING FOR AUTONOMOUS NAVIGATION OF DRIVERLESS GROUND VEHICLE

摘要

The present invention relates to a route tracking system and method for autonomous driving of an unmanned driving vehicle, and more particularly, to a route tracking method for autonomous driving of an unmanned driving vehicle, the method comprising the steps of: (a) (B) generating a reference path parallel to the true path using the current position of the vehicle, (c) using the current position of the vehicle as a starting point, Generating at least one candidate path by generating a number of virtual path points equal in number to the reference points of the path, (d) examining whether or not the generated candidate paths are obstructive interference, (E) selecting an optimal path based on an index and an elapsed time of the target point among the modified candidate paths.