狭隘 L 字路における反復切り返しを用いた自動走行手法

抄録

When driving on a narrow L-shaped road, there are situations where a K-turn combining forward turning and backward turning is necessary. And in some cases, repetitive K-turn are required. The purpose of this research is to propose an automatic driving method for narrow L-shaped roads that includes K-turn, which is often difficult for drivers. The vehicle trajectory is generated geometrically based on the road and vehicle characteristics. When repetitive K-turn are required, the trajectory is divided into three phases: first forward turning (1st phase), repetitive K-turn (2nd phase), final forward turning (3rd phase). Trajectory are generated in the reverse order of the order in which vehicle run. By conducting driving simulations, we confirmed that the proposed method can be used for automatic driving on narrow L-shaped roads.