Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle

摘要

A system and method for providing path planning and generation in a semi-autonomous or autonomously driven vehicle that provides a steering correction for collision avoidance purposes. The method includes detecting a lane center of a roadway lane that the vehicle is traveling along and determining a lane centering path that directs the vehicle from its current position to the lane center. The method also includes detecting a moving object in front of the vehicle and determining if a collision between the vehicle and the object will occur if the vehicle travels along the lane centering path at the current vehicle speed. The method solves a fifth-order polynomial equation to define a collision avoidance path from the current vehicle position to a waypoint a safe distance from the object and a return path from the waypoint to the lane center that the vehicle is automatically steered along.

主权项

1. A method for providing an automatic steering path for a vehicle, said method comprising:
detecting a lane center of a roadway lane that the vehicle is traveling along; determining a lane centering path that directs the vehicle from a current vehicle position to the lane center; automatically steering the vehicle along the lane centering path; detecting a moving object in front of the vehicle; determining if a collision between the vehicle and the object will occur if the vehicle travels along the lane centering path at a current vehicle speed; determining whether vehicle braking alone will prevent the collision with the object if it is determined that the collision will occur; determining a steering path around the object if it is determined that vehicle braking will not prevent a collision with the object; and steering the vehicle along the steering path.