自動運転自動車における車間距離変化に対応した追従手法の提案

抄録

Trajectory planning is an important technology to make autonomous driving comfortable and safe. This paper is focused on trajectory planning in the situation which there is a leading vehicle to follow. Under such circumstances, autonomous vehicle must maintain a safe distance to the leading vehicle. However, a trajectory considered a safe inter-vehicle distance has a risk to brake excessively when a cut-in vehicle is detected. Excessive braking gives a bad influence to traffic flow behind and comfortableness for people on board. Therefore, this paper proposes the method to generate a trajectory to keep an optimal distance to the leading vehicle and control deceleration in the situation to be cut in by other vehicle.