본 실시예는 장애물의 회피 경로 생성을 위한 비용함수에 차량의 기구학적인 제한조건, 차량의 조향 특성정보, 장애물의 위치 및 기준이 되는 경로와의 이격 거리 등을 포함시킴으로써 최대한 기준경로와 가까우면서도 장애물과 충분한 안전거리를 유지한 부드러운 회피 경로 생성이 가능토록 하는 회피경로 생성방법 및 그를 위한 장치에 관한 것이다.

    An embodiment of the present invention relates to a method for generating a collision-free path enabling to generate a soft collision-free path which is as close as possible to a reference path and which maintains a sufficient safety distance from an obstacle by including kinematic constraints of a vehicle on a cost function for the generation of an obstacle collision-free paths, the steering characteristics of a vehicle, a location of an obstacle, and a distance from a reference path, and an apparatus therefor.


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    Titel :

    Method and Apparatus for Planning Obstacle Avoiding Path


    Weitere Titelangaben:

    회피경로 생성방법 및 그를 위한 장치


    Erscheinungsdatum :

    03.09.2020


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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