Obstacle Avoidance Path Planning Design for Autonomous Driving Vehicles Based on an Improved Artificial Potential Field Algorithm
Abstract
:1. Introduction
1.1. Background and Previous Works
1.2. The Organizztions
2. Description of Obstacle Avoidance Maneuver
2.1. Analysis of Obstacle Avoidance Process
2.2. Safety Model of Obstacle Avoidance
3. Obstacle Avoidance Path Planning Based on Artificial Potential Field Method
3.1. Design of Artificial Potential Field
3.2. Constraint Analysis for Obstacle Avoidance Path
4. Simulation Test
5. Real Vehicle Test
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Model Parameter | Value/(units) |
---|---|
Vehicle mass | 1530/(kg) |
Yaw inertia | 2310/(kg·m2) |
Cornering stiffness of front wheel | 67/(kN/rad) |
Cornering stiffness of rear wheel | 63/(kN/rad) |
Distance from center of mass to front wheel | 1.12/(m) |
Distance from center of mass to rear wheel | 1.68/(m) |
Driver response time | 0.6/(s) |
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Wang, P.; Gao, S.; Li, L.; Sun, B.; Cheng, S. Obstacle Avoidance Path Planning Design for Autonomous Driving Vehicles Based on an Improved Artificial Potential Field Algorithm. Energies 2019, 12, 2342. https://doi.org/10.3390/en12122342
Wang P, Gao S, Li L, Sun B, Cheng S. Obstacle Avoidance Path Planning Design for Autonomous Driving Vehicles Based on an Improved Artificial Potential Field Algorithm. Energies. 2019; 12(12):2342. https://doi.org/10.3390/en12122342
Chicago/Turabian StyleWang, Pengwei, Song Gao, Liang Li, Binbin Sun, and Shuo Cheng. 2019. "Obstacle Avoidance Path Planning Design for Autonomous Driving Vehicles Based on an Improved Artificial Potential Field Algorithm" Energies 12, no. 12: 2342. https://doi.org/10.3390/en12122342