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首页> 外文会议>IEEE Annual International Conference on Cyber Technology in Automation, Control and Intelligent Systems >Local path planning in a complex environment for self-driving car
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Local path planning in a complex environment for self-driving car

机译：自动驾驶汽车在复杂环境中的本地路径规划

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摘要

This paper introduces an local path planning algorithm for the self-driving car in a complex environment. The proposed algorithm is composed of three parts: the novel path representation, the collision detection and the path modification using a voronoi cell. The novel path representation provides convenience for checking the collision and modifying the path and continuous control input for steering wheel rather than way point navigation. The proposed algorithm were applied to the self-driving car, EureCar(KAIST) and its applicability and feasibility of real time use were validated.
机译：本文介绍了复杂环境下自动驾驶汽车的局部路径规划算法。所提出的算法由三部分组成：新颖的路径表示，碰撞检测和使用voronoi单元的路径修改。新颖的路径表示为检查碰撞和修改方向盘的路径和连续控制输入（而不是航点导航）提供了便利。将该算法应用于自动驾驶汽车EureCar（KAIST），验证了其实用性和实时性。

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