Study on Trajectory Planning and Motion Control of Low-Speed Autonomous Vehicle Considering Existence of Rearward Traffic

Abstract

In recent years, mobility supported by low-speed autonomous driving service has been considered for vulnerable road users. However, driving at low speed region might have problem in disturbing normal traffic flow when such vehicles appear in public roads and consequently the social acceptance of such mobility service is not high. Therefore, it is required to detect an approach of rearward vehicles by using sensors and to move the vehicle to a free space where the ego vehicle does not disturb the traffic of normal passenger cars which are driving at higher speed. In this study, by measuring the brake operation of the rearward car with respect to the low speed vehicle motion in the experiment, the appropriate avoidance start timing is investigated. In the latter half, an optimal trajectory planning of the ego vehicle in lane change maneuver is described, and the motion control is designed to track the desired path.