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Real-Time Path Planning for Trajectory Control in Autonomous Driving

We propose an algorithm that enables real-time path planning and trajectory control of autonomous vehicles utilizing the detected lane, minimum turning radius, and driving radius. Path planning and trajectory control for autonomous driving are the key technologies in dynamic environments. For trajectory control, steering angle calculation is essential. This calculation mainly uses the next position information from GPS and predefined paths. For path planning and trajectory control, autonomous vehicles use sensors or communication systems to obtain information about their surroundings. However, it may be difficult to obtain the required path information for trajectory control because of environmental factors and surrounding conditions. To alleviate these uncertainties, we propose an algorithm that utilizes the next position generated in real time based on the detected lane information obtained from various sensors. The next position is generated by the intersection and midpoint based on the detected lane, minimum turning radius, and driving radius considering speed. Then, the steering angle is calculated based on the generated next position using a pure tracking algorithm. We simulated four different speeds at a roundabout. The obtained simulation results show that our algorithms work well in real-time driving at various speeds.