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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    Title :

    Method and Apparatus for Planning Obstacle Avoiding Path


    Additional title:

    회피경로 생성방법 및 그를 위한 장치


    Publication date :

    2020-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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



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