A system and method for providing path planning and generation in a semi-autonomous or autonomously driven vehicle that provides a steering correction for collision avoidance purposes. The method includes detecting a lane center of a roadway lane that the vehicle is traveling along and determining a lane centering path that directs the vehicle from its current position to the lane center. The method also includes detecting a moving object in front of the vehicle and determining if a collision between the vehicle and the object will occur if the vehicle travels along the lane centering path at the current vehicle speed. The method solves a fifth-order polynomial equation to define a collision avoidance path from the current vehicle position to a waypoint a safe distance from the object and a return path from the waypoint to the lane center that the vehicle is automatically steered along.


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    Title :

    Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle


    Contributors:
    LEE JIN-WOO (author)

    Publication date :

    2016-01-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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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