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김윤정(Yunjeong Kim),문병일(Byeongil Mun),하상욱(Sangwook Ha),민경원(Kyungwon Min),이선영(Seongyoung Lee),손행선(Haengseong Son) 한국자동차공학회 2019 한국자동차공학회 학술대회 및 전시회 Vol.2019 No.11
Self-driving vehicles are a maturing technology with the potential to reshape mobility. The main technologies consisting of self-driving vehicles includes detection objects around the vehicle, decision-making procedure, and control. In this paper, route planning and local planning algorithms in part of decision-making procedure regards to the urban setting using vector map are suggested. Road networks are converted to the specific form which can be treated easily in route and local motion planning, and route and local planning containing lane changing are conducted. Simulations are conducted in CarLA simulator and shows the validation of the planning algorithm.