Abstract
This study focuses on autonomous driving using the map data that benefits reduction of calculation cost for autonomous driving system. This study utilizes the digital road map database used in car navigation systems, etc. as a map data. The digital road map database is the standard national database that is supplied by the Japan Digital Road Map Association and is supporting Japanese ITS infrastructure. This paper proposes a path planning algorithm from the departure point to the destination by using the digital road map database and a path tracking algorithm based on the preview driver model. The effectiveness of the proposed algorithm is verified by numerical simulation in driving scenario that simulates an urban area. The results of the simulations indicate that the proposed algorithm enables the vehicle to drive autonomously complying with the traffic laws such as left lane keeping and manners such as saving a space for oncoming right-turning vehicles when the host vehicle turns right. In addition, from the result of the comparison of driving trajectories with hand-drawn trajectories on the map by human subjects, it is confirmed that the vehicle trajectories by the proposed algorithm are appropriate.
