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장애물의 위험도를 반영한 차량의 장애물 회피 경로생성 알고리즘Path Planning Algorithm for Grounded Vehicle Considering Risk of Obstacles
- Other Titles
- Path Planning Algorithm for Grounded Vehicle Considering Risk of Obstacles
- Issue Date
- Nov-2015
- Publisher
- 한국자동차공학회
- Keywords
- Path Planning(경로 계획); Collision Avoidance(충돌 회피); Support Vector Machine(서포트 벡터 머신); Risk level of Obstacle(장애물의 위험도); Classification(분류); Bezier Curve(베지에 곡선)
- Citation
- 한국자동차공학회 학술대회 논문집, pp.326 - 328
- Indexed
- OTHER
- Journal Title
- 한국자동차공학회 학술대회 논문집
- Start Page
- 326
- End Page
- 328
- Abstract
- This paper proposes path planning algorithm for avoiding obstacles. The proposed algorithm classifies risk level of each obstacle and weight of the obstacle is determined based on the risk level. Path is generated using the weights of obstacles and basic principle of support vector machine (SVM). This method is able to enhance not only safety of autonomous vehicle driving but also correspondence of path planning in various scenarios. Proposed algorithm was simulated by MATLAB/Simulink, Carsim and Prescan was used to compose the simulation environment.
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Collections - 서울 공과대학 > 서울 미래자동차공학과 > 1. Journal Articles
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