Abstract
For the purpose of reducing traffic accidents and improving traffic convenience, the research and development of the automated driving and advanced driver assistance system is in progress. For more future, we think additional values such as comfort and economy in these systems will be more demanded. In this paper, we propose an integrated speed planning control method that mediates multiple speed plans based on the scene judgment for the real driving environment. And we show that proposed method is effective using the verification results which simulated the actual driving environment.
