Path Planning for Autonomous Vehicles

**3**

**Chapter 1**

Robots

**1. Introduction**

making [4–6].

of the vehicle.

**2. How does autonomous vehicle work?**

Introductory Chapter: Roles

of Path Planning in Providing

for Autonomous Vehicles and

*Umar Zakir Abdul Hamid, Volkan Sezer, Bin Li,* 

*Yanjun Huang and Muhammad Aizzat Zakaria*

Reliable Navigation and Control

Shared, connected, and driverless vehicles have been the discussion of many researchers, and autonomous vehicle (AV) itself is considered as a highly disruptive emerging technology. One of the examples of its disrupting feature is when 11 major automotive companies which include BMW, Daimler and Volkswagen

Automated Driving" in 2019 to address the topic [1]. With the predicted market value of US\$7 Trillion by 2050 for the automated driving segments, it is hard to ignore the highly disruptive effects that the AV will deliver [2, 3]. In addition to the ongoing development of the autonomous vehicles' platforms, to complement for its expanding advancement, the discussion is also now reaching other topics such as the mobility-as-a-service (MaaS), city infrastructures as well as policy-

Generally, in addition to the hardware requirements, a high-level autonomous vehicle software module comprises of the perception and vision, localization and mapping as well as the guidance, navigation and control modules (**Figure 1**). The combination of these modules yields an ability to compensate for the driver's absence during the navigation. AV, in any case, should possess the ability to measure the risk surrounding its environment as well as guiding the vehicle motion. In addition, a driverless vehicle is also expected to compensate for the absence of a human driver by possessing the required intelligence to mimic the human driving behavior

The smooth and comfortable automated driving experience requires the expertise of interdisciplinary fields, which includes the development of required hardware and software integration. In the case of road navigation of an autonomous vehicle, the vehicle is typically expected to navigate independently during the entire

have collaborated and published a white paper entitled "Safety First for
