earticle

영어

This paper proposes a motion planning method for connected autonomous vehicles approaching an intersection where there is no traffic light. Crossing an intersection poses a new set of challenges due to the various interaction with opposing vehicles. By exploiting the position, velocity, heading, and trajectory of vehicles through V2X communication, the future motion of vehicles in the vicinity of the intersection can be predicted. The predicted motion is translated into an SLcoordinate frame where the likelihood of a path conflict can be predetermined. This information is fed into the motion planner, where it calculates the optimal trajectory of the vehicle using a search-based method. The proposed motion planner is validated using two identical CAVs in a no-traffic-light within the Incheon Songdo Technopark testbed.