Research on Jerk Reduction Route Planning Method for Autonomous Driving Using Vehicle Forward Information

Abstract

We propose a forward-gazing model for path planning (Preview Path-Planning model) as the most basic model that provides insight to people who share the paradigm of human-like path-planning modeling. The basic concept is to apply a low-pass filter to changes in forward curvature. In addition, the phase delay due to the low-pass filter is compensated by forward gaze. We also report the results of determining the longitudinal motion by applying the GVC technology to the situation in which the vehicle could run perfectly along the path.