System and method for avoiding obstacle for autonomous vehicle

摘要

A system and method of avoiding an obstacle for an autonomous vehicle is provided. The system includes an valid trajectory generation unit configured to generate a circle in which the vehicle is located in a center position of a circle, calculate a rotatable range of the vehicle, and generate an valid trajectory estimated that the vehicle passes based on the generated circle and rotatable range; an obstacle detection unit configured to detect the obstacle located in front of the vehicle; and a driving path control unit configured to control a driving path of the vehicle when a position of the detected obstacle is included within the generated valid trajectory.

主权项

1. A system for avoiding an obstacle for an autonomous vehicle, comprising:
a valid trajectory generation unit configured to:
generate a circle around the vehicle located at a center of the circle,calculate a rotatable range of the vehicle, the rotatable range including a left rotatable curve starting from the vehicle and intersecting the circle and a right rotatable curve starting from the vehicle and intersecting the circle, andgenerate a valid trajectory area defined by a closed area formed by the circle, the left and right rotatable curves, and the vehicle in front of the vehicle; an obstacle detection unit configured to detect the obstacle located in front of the vehicle; and a driving path control unit configured to control a driving path of the vehicle when a position of the detected obstacle is included within the generated valid trajectory area.