Behavior and Path Planning Algorithm of Autonomous Vehicle A1 in Structured Environments

This paper presents a behavior and path planning algorithm that is responsible for safe autonomous driving in structured environments. In order to accomplish safe driving, the mission planner makes a decision of vehicle control mode by using a road map and perception information. Based on the vehicle control mode, the path planner generates the optimal path to reach the destination without collision or traffic accidents. The control strategy of acceleration and deceleration of the vehicle is determined for accurate mission completion by a longitudinal motion planner. The proposed planning algorithms were implemented on the autonomous vehicle A1 that won the 2012 Autonomous Vehicle Competition (AVC) organized by the Hyundai Motor Group in Korea.