Longitudinal Motion Planning Strategy for Autonomous Driving in Non-signalized Crosswalk

Youngmin Yoon; Sangyoon Kim; Changhee Kim; Jinsoo Michael Yoo; Jongcherl Park; Kyongsu Yi

doi:10.22680/kasa2024.16.2.006

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2024 Vol.16, Issue 2 Next Page

Longitudinal Motion Planning Strategy for Autonomous Driving in Non-signalized Crosswalk 비신호 횡단보도 환경 내 자율주행을 위한 종방향 거동 전략 연구

30 June 2024. pp. 6-13

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Abstract

This paper presents a method of longitudinal motion planning of autonomous vehicles to deal with the non-signalized crosswalk environment. Based on the traffic laws, vehicles should slow down when passing the non-signalized crosswalk to prepare for situations where a nearby pedestrian starts to cross. If a pedestrian is in the crossing phase, vehicles should stop in front of the stop-line and wait until the pedestrian finishes the crossing maneuver. To realize these behaviors in autonomous vehicles, the driving mode and corresponding driving strategy are determined when vehicles encounter the crosswalk. The driving mode is determined according to the behavioral status of the nearby pedestrian. Longitudinal motion for the stopping or passing maneuver is planned according to the determined driving mode. The proposed algorithm has been validated via autonomous driving tests with our test vehicle in a real world. The test results show that the proposed algorithm enables the test vehicle to follow the traffic laws and behave safely against crossing pedestrians in the non-signalized crosswalk.

Keywords

Longitudinal motion planning(종방향 거동계획)

Autonomous vehicle(자율주행 자동차)

Non-signalized crosswalk(비신호 횡단보도)

Pedestrian(보행자)

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차모빌리티안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 16
No :2
Pages :6-13
Received Date : 2023-04-05
Revised Date : 2024-03-12
Accepted Date : 2024-04-03
DOI :https://doi.org/10.22680/kasa2024.16.2.006

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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