Full metadata record
DC Field | Value | Language |
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dc.contributor.author | 선우명호 | - |
dc.date.accessioned | 2018-03-15T06:31:28Z | - |
dc.date.available | 2018-03-15T06:31:28Z | - |
dc.date.issued | 2014-07 | - |
dc.identifier.citation | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 228(8), P.909-928 | en_US |
dc.identifier.issn | 0954-4070 | - |
dc.identifier.issn | 2041-2991 | - |
dc.identifier.uri | http://journals.sagepub.com/doi/abs/10.1177/0954407014522443?journalCode=pidb | - |
dc.description.abstract | This paper presents a path-planning strategy for autonomous vehicles which aims to provide safe and feasible manoeuvres in various driving environments. Our strategy uses a hierarchical architecture which consists of three components: a behaviour planner, a map and path selector and a local-path planner. The behaviour planner performs the rule-based decision process which determines the overall vehicle manoeuvres. The map and path selector preprocesses perception data and chooses a local-path-planning algorithm using the results of the behaviour planner. From this selection, the local-path planner generates a driveable and collision-free path. For reliable path generation under various driving conditions, the proposed local path planner employs two algorithms: a road-model-based path planning algorithm and a graph-structure-based path-planning algorithm. The former is used for structured road driving, such as lane keeping or changing, and the latter is used for unstructured road driving. The proposed hierarchical path-planning algorithm was implemented in the autonomous vehicle called A1, which was applied with an in-vehicle-network-based distributed system architecture. A1 won the 2012 Autonomous Vehicle Competition organized by the Hyundai Motor Group in Korea. | en_US |
dc.description.sponsorship | This work was supported by a National Research Foundation of Korea grant funded by the Ministry of Education, Science and Technology, Republic of Korea (grant number 2011-0017495), an Industrial Strategy Technology Development Program of the Ministry of Knowledge Economy (MKE), Republic of Korea (grant number 10039673), an Energy Resource Research and Development Program (grant number 2006ETR11P091C) under the MKE, the BK21 Plus Program (grant number 22A20130000045) under the Ministry of Education, Republic of Korea, and MKE and Korea Institute for Advancement of Technology through the Workforce Development Program in Strategic Technology. | en_US |
dc.language.iso | en | en_US |
dc.publisher | SAGE PUBLICATIONS INC | en_US |
dc.subject | Autonomous vehicle | en_US |
dc.subject | path planning | en_US |
dc.subject | road model | en_US |
dc.subject | graph data structure | en_US |
dc.subject | non-holonomic constraint | en_US |
dc.title | Road-model-based and graph-structure-based hierarchical path-planning approach for autonomous vehicles | en_US |
dc.type | Article | en_US |
dc.relation.volume | 228 | - |
dc.identifier.doi | 10.1177/0954407014522443 | - |
dc.relation.page | 909-928 | - |
dc.relation.journal | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING | - |
dc.contributor.googleauthor | Kim, Junsoo | - |
dc.contributor.googleauthor | Jo, Kichun | - |
dc.contributor.googleauthor | Chu, Keonyup | - |
dc.contributor.googleauthor | Sunwoo, Myoungho | - |
dc.relation.code | 2014038050 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DEPARTMENT OF AUTOMOTIVE ENGINEERING | - |
dc.identifier.pid | msunwoo | - |
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