차량 내부 정보를 이용한 자차량 궤적 예측 기법

Abstract

A design algorithm for trajectory prediction of ego vehicle is proposed using the vehicle inner states. The objective of the proposed algorithm is to ensure the safety of the ego vehicle before collision by obtaining the predicted trajectory in advance. In this study, the vehicle’s inner information, which is longitudinal/lateral acceleration, yaw rate, and longitudinal velocity, is used to calculate the predicted trajectory. The vehicle trajectory can be calculated by integration of combination of velocity and yaw rate, etc. The proposed algorithm is verified by the simulation using the experiment using test vehicle.