Construction of Motion Planning Method for Autonomous Vehicle in Cyclist Overtaking Scenario

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  • 二輪車追い越し場面における自動運転車両の運動計画手法の構築

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<p>Recently, autonomous driving technology in urban areas has been extensively being studied. Current autonomous driving technology can be classified into the comfort-oriented systems such as Adaptive Cruise Control and Lane Keeping Assistant System, and the safety-oriented systems such as Autonomous Emergency Braking. On the other hand, autonomous driving in urban areas requires speed and route planning considering the existence of pedestrians and cyclists. Therefore, this study focuses on evaluating the potential hazard in the cyclist overtaking scenario where the oncoming vehicle appears, and constructing the motion planning method of the autonomous driving vehicle based on the potential field approach. This paper proposes a system judging whether the vehicle passes the cyclist by potential risk assessment of five representative positions in the risk potential field and verifies feasibility of the proposed system by simulation.</p>

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