벡터맵을 사용한 자율주행자동차의 경로계획 알고리즘

Self-driving vehicles are a maturing technology with the potential to reshape mobility. The main technologies consisting of self-driving vehicles includes detection objects around the vehicle, decision-making procedure, and control. In this paper, route planning and local planning algorithms in part of decision-making procedure regards to the urban setting using vector map are suggested. Road networks are converted to the specific form which can be treated easily in route and local motion planning, and route and local planning containing lane changing are conducted. Simulations are conducted in CarLA simulator and shows the validation of the planning algorithm.