自動運転における速度プロファイルに基づく減速軌道生成

抄録

Trajectory generation is an important technique for making automated driving comfortable and safe. In this paper, we focus on deceleration trajectories due to pauses. Ideally, the deceleration trajectory should change the way the vehicle decelerates according to the surrounding environment. In the past, deceleration trajectories were generated with the goal of decelerating sufficiently before the stop position to stop smoothly, and therefore, no consideration was given to adjusting the degree of deceleration. Therefore, it is difficult to change the way the vehicle decelerates according to the environment. To solve this problem, we propose a method to generate a deceleration trajectory based on a speed profile, which is a target speed set at each point on the route according to the surrounding conditions.