Intelligent vehicle trajectory planning method based on improved artificial potential field

A technology for intelligent vehicle and trajectory planning, applied in vehicle position/route/altitude control, motor vehicle, two-dimensional position/flight control and other directions, which can solve the problem of unreachable local minimum target

Active Publication Date: 2020-03-24
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0003] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide an intelligent vehicle trajectory planning method based on an improved artificial potential field, to solve the problem of local minimum value of the artific

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  • Intelligent vehicle trajectory planning method based on improved artificial potential field
  • Intelligent vehicle trajectory planning method based on improved artificial potential field
  • Intelligent vehicle trajectory planning method based on improved artificial potential field

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Embodiment Construction

[0050] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

[0051] refer to figure 1 As shown, a kind of intelligent vehicle trajectory planning method based on improved artificial potential field of the present invention, comprises steps as follows:

[0052] Step 1: Obtain intelligent vehicle information, obstacle information, and road boundary information through GPS, on-board radar, and on-board camera, and obtain the position of the target point (x g ,y g ); Specifically, the GPS collects the information of the smart vehicle as the position of the vehicle center of mass (x 0 ,y 0 ); the vehicle-mounted radar collects the surrounding obstacle information as the obstacle center position (x obs ,y obs ); the vehicle-mounted camera collects road...

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Abstract

The invention discloses an intelligent vehicle trajectory planning method based on an improved artificial potential field. The method comprises the steps of acquiring intelligent vehicle information,obstacle information and road boundary information; determining the position of a target point; establishing a road rectangular coordinate system and a vehicle equivalent model, and establishing a collision constraint condition of the intelligent vehicle and the road; establishing an obstacle repulsion potential field and a target gravitation potential field according to the intelligent vehicle information, the obstacle information and the target point position; establishing a balance equation of the intelligent vehicle according to the action of force borne by the intelligent vehicle in a composite field formed by all obstacle repulsion potential fields and target point gravitation potential fields; and solving the balance equation to obtain coordinates of a series of points, and connecting the points by using a smooth curve to obtain a safe and feasible driving track of the intelligent vehicle in a planning period. According to the method, static obstacles and dynamic vehicle obstacles are effectively avoided, and the vehicle approaches a target more quickly, so that a safe and feasible optimal track is obtained.

Description

technical field [0001] The invention belongs to the technical field of vehicle trajectory planning, and specifically refers to an intelligent vehicle trajectory planning method based on an improved artificial potential field. Background technique [0002] Intelligent vehicle is a comprehensive system integrating perception, decision-making and control. In order for an intelligent vehicle to operate in an actual traffic environment, the vehicle must be able to make autonomous decisions and plan a safe and feasible trajectory. At present, the intelligent algorithms used for vehicle trajectory planning include genetic algorithm, mathematical morphology, neural network, etc., but these algorithms have the problems of high complexity, large amount of calculation, low planning efficiency, and poor real-time performance, and the planned path has oscillation phenomenon and is stable. Poor sex. The Artificial Potential Field (APF) algorithm has short planning time and high executio...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0257G05D2201/0212
Inventor 黄云丰赵万忠周小川王春燕刘津强
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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