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Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle
Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle
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机译:自主驾驶车辆避免运动障碍的统一运动计划器
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摘要
A system and method for providing path planning and generation in a semi-autonomous or autonomously driven vehicle that provides a steering correction for collision avoidance purposes. The method includes detecting a lane center of a roadway lane that the vehicle is traveling along and determining a lane centering path that directs the vehicle from its current position to the lane center. The method also includes detecting a moving object in front of the vehicle and determining if a collision between the vehicle and the object will occur if the vehicle travels along the lane centering path at the current vehicle speed. The method solves a fifth-order polynomial equation to define a collision avoidance path from the current vehicle position to a waypoint a safe distance from the object and a return path from the waypoint to the lane center that the vehicle is automatically steered along.
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