Proposal and Evaluation of a Dynamic Path Finding Method Using Potential Values Considering Time Series in Automatic Driving

Year 2022, Volume: 6 Issue: 4, 460 - 475, 30.12.2022

Tomofumi Matsuzawa , Akito Fukai

https://doi.org/10.31197/atnaa.1141666

Abstract

Many studies have been conducted using obstacle hazard values, called potential method, for connected
autonomous vehicle. However, most studies were conducted for static obstacles, and those for dynamic
obstacles assumed an environment without oncoming or crossing vehicles. In this study, we devise an
algorithm for generating potential values considering time series characteristics using information that can
be obtained through inter-vehicle communication and propose a path ?nding algorithm that uses these
potential values. As an evaluation of the usefulness of the proposed method, we compare it with existing
potential methods. The results show that, in some situations, the route derived by the proposed method
is superior to the route derived by the existing potential method in terms of safety and timer to reach the
destination.

Keywords

Automatic Driving, Autonomous vehicle, Path finding, Artificial potential method

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