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An 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: 2021-05-07
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 artificial potential field algorithm in the prior art and the problem of unreachable targets. Problem: The present invention effectively avoids static obstacles and dynamic vehicle obstacles, and approaches the target faster, thereby obtaining a safe and feasible optimal trajectory

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  • An 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, comprising: acquiring intelligent vehicle information, obstacle information, and road boundary information; determining the position of a target point; establishing a road Cartesian coordinate system and an equivalent vehicle model, and Establish collision constraints between smart vehicles and roads; establish obstacle repulsion potential fields and target gravitational potential fields based on smart vehicle information, obstacle information, and target point positions; Establish the balance equation of the intelligent vehicle under the action of the force in the composed composite field; solve the above balance equation to obtain the coordinates of a series of points, and connect these points with a smooth curve to obtain an intelligent vehicle in the planning cycle A safe and feasible driving trajectory in China. The invention effectively avoids static obstacles and dynamic vehicle obstacles, and approaches the target faster, thereby obtaining a safe and feasible optimal trajectory.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0257
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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