Design of Planning System for Automatic Turning Mission of Autonomous Car on Narrow and Wide Roads

Authors

1 K.N. Toosi university of technology, Tehran, Iran

2 K. N. Toosi University of technology, Tehran, Iran

Abstract

The behavior of self-driving cars is categorized into different strategic, tactical and operational levels in a hierarchical structure. In this research, a study at the local planning level aims to design an automatic turning system and Focus on path and maneuver planning (single and multi-point). The turn around maneuver as a common scenario in the required conditions, includes one or more forward and backward movements, in which the vehicle must be in the proper position in the opposite lane of the road and with a heading angle of 180 degrees. Moreover, the condition of collision avoidance is considered during the maneuver. For this purpose, the four-wheeled model of the vehicle with the relevant geometry is described; Next, on the basis of the deduced minimum permissible road width, a decision is made according to the objective of the minimum number of commands. Then the path design is presented using the proposed geometrical method with circle arcs for each initial position and orientation and generalized to the backward turning. The proposed method has advantages such as low computational cost and can be used for different situations of the initial states of the vehicle. The result of the turning simulation with sample vehicle data and continuous evaluation of the most feasible maneuver confirms the efficiency of the chosen planning approach. In a case study for the Samand car, while proper planning was done, a distance reduction of about 11% for the road with a width of 12 meters is observed compared to the path planned by one of the references.

Keywords

Main Subjects

References

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History

  • Receive Date: 11 June 2021
  • Revise Date: 21 September 2021
  • Accept Date: 09 October 2021

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