Vehicle obstacle-avoidance path planning research method based on novel manual potential field method

An artificial potential field method and path planning technology, applied in vehicle position/route/altitude control, motor vehicle, two-dimensional position/channel control, etc. Small volume, easy real-time control, improved safety and comfort

Inactive Publication Date: 2016-09-28
JIANGSU UNIV
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Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides a vehicle obstacle avoidance path planning research method based on the new artifi

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  • Vehicle obstacle-avoidance path planning research method based on novel manual potential field method
  • Vehicle obstacle-avoidance path planning research method based on novel manual potential field method
  • Vehicle obstacle-avoidance path planning research method based on novel manual potential field method

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[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0035] like figure 1 As shown, a flow chart of a research method for vehicle obstacle avoidance path planning based on the improved artificial potential field method and speed control, including steps:

[0036] S1. Use CCD camera, millimeter-wave radar, and vehicle-mounted equipment (vehicle sensor, global positioning system GPS) to collect in real time the road information, obstacle information, and main vehicle information required for vehicle obstacle avoidance path planning; the CCD camera is installed in front of the main vehicle On the windshield, it is necessary to ensure that the camera can "look straight ahead"; the millimeter-wave radar is installed on the front of the car and on the longitudinal axis of the vehicle, and the distance from the ground is at least ...

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Abstract

The invention discloses a vehicle obstacle-avoidance path planning research method based on a novel manual potential field method. The research method comprises that a CCD cameras, a millimeter wave radar and a vehicle-mounted sensor collect information needed by vehicle obstacle-avoidance path planning in real time, according to the information needed by vehicle obstacle-avoidance path planning, a road boundary repulsion potential field and obstacle repulsion potential field model based on the manual potential field method is established, a balance equation is established according to the force born by a main vehicle in a composite field formed by the road boundary repulsion potential field and the obstacle repulsion potential field, positional points which the main vehicle pass in the obstacle avoidance process are solved, an obstacle-avoidance path is thus obtained, and the speed of the main vehicle is controlled in the obstacle avoidance process to improve the safety and comfortableness. The research method of the invention is low in computing amount and is convenient to control in real time, and the planned obstacle-avoidance path is safer and more reliable than that planed by a traditional method.

Description

technical field [0001] The invention belongs to the field of motor vehicle driving safety, and in particular relates to a research method for vehicle obstacle avoidance path planning based on a novel artificial potential field method. Background technique [0002] Road traffic accidents are mostly caused by collisions between vehicles and obstacles and secondary accidents after collisions. According to the statistical data of traffic accidents in my country in 2010 released by the Traffic Management Science Research Institute of the Ministry of Public Security, the analysis shows that the number of traffic accidents caused by driver errors (such as: misjudgment, wrong decision, etc.) accounts for about 90%. If the driver can be helped to take corresponding safety measures in an emergency traffic situation, the probability of traffic accidents will be greatly reduced, and the vehicle's local obstacle avoidance path planning is an important means to achieve this goal. This me...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0231G05D1/0257G05D2201/0213
Inventor 刘志强朱伟达倪捷
Owner JIANGSU UNIV
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