Offline path planning of automated vehicles for slow speed maneuvering

In the last century in road transport the main motivation was to make driving easier or more comfortable. Today lower fuel consumption, higher traffic safety and reduced environmental impact are in the focus of the developments. To reach these future objectives it is necessary to increase the level of automation of road vehicles. Driving a road vehicle by a software is a complex controlling task. In connected and automated vehicles the control algorithm has several steps. An important step is, when the vehicle plans its own trajectory. The trajectory planning process has several parts for instance the geometry of the path-curve or the speed during the way. This paper presents a basic approach for path design. To reach the aim a map will be given as a binary 2204 x 1294 size matrix where the roads will be defined by ones, the obstacles will be defined by zeros. The map presents a smaller area of the campus of the Budapest University of Technology and Economics. The aim is to make an algorithm which can find the shortest and a feasible path for vehicles between the start and the target point. The vehicle speed will be assumed slow enough to ignore the dynamical properties of the vehicle.