Earticle

초록

영어

This paper proposes a motion planning method for connected autonomous vehicles approaching an intersection where there is no traffic light. Crossing an intersection poses a new set of challenges due to the various interaction with opposing vehicles. By exploiting the position, velocity, heading, and trajectory of vehicles through V2X communication, the future motion of vehicles in the vicinity of the intersection can be predicted. The predicted motion is translated into an SLcoordinate frame where the likelihood of a path conflict can be predetermined. This information is fed into the motion planner, where it calculates the optimal trajectory of the vehicle using a search-based method. The proposed motion planner is validated using two identical CAVs in a no-traffic-light within the Incheon Songdo Technopark testbed.

목차

Abstract
I. INTRODUCTION
II. METHODS
A. State sharing with nearby vehicles
B. Conflict checking with region of interest
C. Search based trajectory generation
III. EXPERIMENT AND RESULTS
IV. CONCLUSION
ACKNOWLEDGMENT
REFERENCES

저자

• Hyung Jin Han [ Department of Electrical and Computer Engineering Inha University ]
• Sun Won Hong [ Department of Electrical and Computer Engineering Inha University ]
• Dong Hyun Lee [ Department of Electrical and Computer Engineering Inha University ]
• Jang Seob Oh [ Department of Electrical and Computer Engineering Inha University ]
• Vijay Kakani [ Department of Integrated System Engineering Inha University ]
• Hakil Kim [ Department of Electrical and Computer Engineering Inha University ]

참고문헌