Decision-making System based on Finite State Machine for Low-speed Autonomous Vehicles in the Park

Park is an important population and industry gathering area in a city, and a popular scene in theoretical research and technical application of automatic driving. Decision-making, path planning and control are the core technologies. Due to cost and safety issues, automatic driving has not been widely used for park applications. In this paper, a decision-making model is devised based on finite state machine (FSM), a local path planner is designed based on Bézier curve and the lateral and longitudinal control method is realized on GAC Aion LX. This decision-making system for low speed automatic driving in the park is tested. Results demonstrate its accuracy and reliability.