主办:陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊:1976年

汽车实用技术 ›› 2024, Vol. 49 ›› Issue (3): 36-42.DOI: 10.16638/j.cnki.1671-7988.2024.003.006

• 智能网联汽车 • 上一篇    

基于改进人工势场法的非结构化道路路径规划

陈 翔,钱良辉*   

  1. 西南林业大学 机械与交通学院
  • 发布日期:2024-02-07
  • 通讯作者: 钱良辉
  • 作者简介:陈翔(1998-),女,硕士研究生,研究方向为路径规划和自动驾驶,E-mail:2313967905@qq.com。 通信作者:钱良辉(1977-),男,博士,副教授,研究方向为城市交通控制及智能交通系统等,E-mail:qianfeng_10@ 163.com。

Path Planning Based on Improved Artificial Potential Field Method in Unstructured Roads

CHEN Xiang, QIAN Lianghui*   

  1. School of Machinery and Transportation, Southwest Forestry University
  • Published:2024-02-07
  • Contact: QIAN Lianghui

摘要: 自动驾驶车辆在园区内的非结构化道路会车避让时常因距离过小而无法顺利会车。针 对这一问题引入改进的人工势场法。首先,增加道路边界斥力势场和车道中心线势场以保证 车辆不会驶出道路边界和驶回原有道路;其次,为解决难以实现会车问题,在车辆前进方向 和障碍物的碰撞范围外设置临时目标点,避免因势场合力为零无法规划路径。此外,引入障 碍物动态斥力势场,根据障碍物的当前位置和速度,可以预测未来一段时间内障碍物的位置, 将障碍物速度斥力与传统的静态斥力场相结合,得到最终的斥力场。仿真表明,引入的改进 人工势场法在非结构化道路中会车避让的通过时间缩短了约 34%。

关键词: 自动驾驶;非结构化道路;改进人工势场法;路径规划

Abstract: Autonomous driving vehicles often encounter and avoid non structured roads within the park due to their small distance, making it difficult for them to meet smoothly. To address this problem, an improved artificial potential field approach is introduced. Firstly, the road boundary repulsive potential field and the lane centerline potential field are introduced to ensure that the vehicle will not drive out of the road boundary and drive back to the original road. Secondly, in order to solve the problem that it is difficult to realize the meeting of vehicles, temporary target points are set outside the collision range of the vehicle's forward direction and obstacles to avoid the inability to plan the path due to zero force in the situation. In addition, the dynamic repulsive potential field of obstacles is introduced, and according to the current position and velocity of the obstacle, the position of the obstacle can be predicted in the future period, and the obstacle velocity repulsion is combined with the traditional static repulsive field to obtain the final repulsive field. The simulation shows that the improved artificial potential field method introduced has reduced the passing time of meeting and avoiding vehicles on unstructured roads by about 34%.

Key words: Autonomous driving; Unstructured roads; Improved artificial potential field method; Path planning