Study on Local Path Planning for Collision Avoidance in Vehicle-to-Vehicle Communication Environment

Abstract

Local path planning is a path planning method that utilizes the dynamics and probabilities of a vehicle as criteria for determining the possibility of the corresponding vehicle to drive on a candidate path. The proposed system in this study utilizes the environmental data through a vehicle-to-vehicle (V2V) communication environment to create the collision risk index. The collision risk index takes into account the time to collision (TTC) as a criteria for determining path planning. The results of analyzing the performance of the proposed algorithm obtained through simulation verified that the proposed algorithm performed route planning in a more efficient manner when compared with the algorithm that does not take into account the TTC value. Therefore, the proposed collision avoidance algorithm that considers the TTC value is expected to contribute to the reduction of car accidents, as well as provide a more efficient route when applied to the actual system.