자율주행 차량의 경유점 추종을 위한 통합된 궤적 계획기 및 제어기에 관한 연구

다국어 초록 (Multilingual Abstract)

This paper presents the integrated trajectory planner and controller for the waypoint tracking of autonomous vehicles. In the case of that there are no driving lanes, the trajectory should be planned for the vehicle. However, because of the nonholonomic constraint which renders the motion orthogonal to the vehicle’s forward direction is impossible, the trajectory planning and the control problems are becoming complicated. To solve these problems, the trajectory planning and control are integrated using the flatness property of the kinematic model of the vehicle. And with the given waypoints, the waypoint tracking algorithm is proposed to plan the trajectory for the next waypoint. Therefore the vehicle follows the waypoints in order. Finally, the performance of the proposed method is tested through simulation.