Proposal and Evaluation of a Dynamic Path Finding Method Using Potential Values Considering Time Series in Automatic Driving

Many studies have been conducted using obstacle hazard values, called potential method, for connected autonomous vehicle. However, most were static obstacles, and those dynamic obstacles assumed an environment without oncoming or crossing vehicles. In this study, we devise algorithm generating values considering time series characteristics information that can be obtained through inter-vehicle communication propose a path ?nding uses these values. As evaluation of the usefulness proposed compare it with existing methods. The results show that, in some situations, route derived by method is superior to terms safety timer reach destination.