Automated Right-angle Narrow Road Driving System Performing Iterative Switch-back with Localization using LiDAR

Abstract

In recent years, automated parking and automated driving on highways have been put to practical use, but automated driving on narrow roads has not. Therefore, this study proposed an automated right-angle narrow road driving system that use localization using two LiDAR, path generation using iterative switch-back, path generation by connecting two arcs, and path following using path following control. In this study, the effectiveness of the proposed system was verified by simulation as a preliminary step to an experiment using an experimental vehicle one-tenth the size of the actual vehicle. The simulation result showed the effectiveness of the proposed system, as the vehicle was able to pass through the right-angle narrow road without colliding with the road wall.