抄録
We propose a motion planning method that cars can automatically stop at road shoulder. This system is used in order to prevent causing a crash car runs away when the driver is unconscious. The proposed method generates paths in consideration of the car's non-holonomic restriction its deceleration, and obstacle avoidance. In addition, the proposed method can generate a path which the car run without slip by limiting the acceleration during its turn. Simulation results show that the proposed method can generate a path that pulls over a car, slowing down from 80km/h to 5km/h. It is confirmed that the proposed method can generate an appropriate path within 12〜16ms at the case of obstacle avoidance.
