自動運転車両の最適経路生成手法に関する研究

抄録

It is essential for autonomous vehicle to generate paths which is easy to track. Such paths can be constructed by connecting the current position and the destination with the curve whose curvature variation is moderated. In addition to this, the curvature at the end points of each path must be able to be specified. This is because it is important for smooth driving that the continuity of the paths which are generated consecutively in response to changes in the environment are considered. In this study, we propose the path generation method in which the square sum of the curvature variation of the path is minimized under the boundary conditions including specified curvatures. The problem is reduced to solve nonlinear equations with four unknowns. The tables of initial guess of the unknowns for the numerical solution are also given.