Otonom araçlarda hareket planlaması

Son yıllarda, otomotiv teknolojisinde insan müdahalesi olmadan yolculuk gerçekleştirebilen otonom araçlar, akıllı sistemler ışığında gelinen son nokta olup kontrollü çevrelerde neredeyse tüm görevleri başarıyla yerine getirebilmektedir. Otonom araçlarda mevcut yol ve trafik durumu iletişim sistemleri ve sensörler aracılığıyla modellenmekte ve çeşitli tekniklerle aracın hareketi tasarlanmaktadır. Algılama ve kontrol aşamaları arasında bağlantı kuran hareket planlaması, son yıllarda üzerine çalışılan önemli bir araştırma alanı olmuştur. Bu alanda, taşıtın izleyeceği yolu belirleme görevini yerine getiren yörünge planlaması büyük aşama kaydedilen konulardan biri olarak dikkat çekmektedir. Bu makalede, literatürde yer alan hareket planlama teknikleri ve algoritmaları sınıflandırılarak tanımlamaları ve uygulama örnekleri detaylı olarak sunulmuştur. Literatürde yer alan çalışmalar incelenerek teknolojinin bugünkü durumu, boşlukları, ihtiyaçları ve gelecekteki odak noktaları belirtilmiştir. Bununla birlikte güvenlik, konfor ve enerji tasarrufu gibi konular göz önünde bulundurularak, hareketli ve belirsiz çevrelerdeki aracın manevra kabiliyeti konusunda da araştırmalar yapılmasına ihtiyaç duyulduğu vurgulanmıştır.

Anahtar Kelimeler:

Akıllı ulaşım sistemleri, Otomotiv mühendisliği, Otonom araçlar

Motion Planning for Autonomous Vehicles

In recent years, autonomous vehicles which are capable of travelling without human intervention are the last point reached in the light of intelligent systems and can perform almost all tasks successfully in controlled environments. Road and traffic situation in autonomous vehicles are modelled with the help of communication systems and sensors, then the motion of the vehicle is designed by implementing various techniques and algorithms. Being the link between perception and control stages, motion planning has become an interesting research field. In this field, trajectory planning, which fulfills the task of determining the route to be followed by the vehicle, is the topic in which a great progress has been made.In this paper, the descriptions and applications of the motion planning techniques and algorithms are presented in detail by classifying according to the literature. The current status, the gaps, the needs and future focus of the technology are pointed out by examining previous studies. In addition to these, it is emphasized that further researches on the subject of maneuverability in uncertain and dynamic environments should be carried out by considering the issues such as safety, comfort and energy saving.

Keywords:

Intelligent transportation systems, Automotive engineering, Autonomous vehicles,

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