Research on Path Planning and Path Tracking Control of Autonomous Vehicles Based on Improved APF and SMC
Abstract
:1. Introduction
- 1.
- This study presents a method for setting the action area of a repulsive force field by analyzing the change in obstacle velocity. The detection process is divided into two areas. First, within a 120° range in front of the vehicle, a forward detection radius function is formulated based on the relative velocity between the closest obstacle and the vehicle. This function determines the detection area for obstacles in front. Similarly, a rear detection radius function is developed to cover a 240° range behind the vehicle for rear detection purposes. By considering only obstacles within the detection range, it saves computational time by ignoring irrelevant obstacle repulsion fields. This approach ensures both the accuracy and real-time performance of the path planning process.
- 2.
- In response to the problem of unreachable targets and local optima in traditional APF methods, this study introduces the concept of virtual sub-target points and a target point distance factor. These sub-target points are randomly generated within a certain radius around the target point to replace the original target point when the resultant force becomes zero during obstacle movement. By doing so, the resultant force is always maintained as non-zero, preventing the vehicle from becoming stuck in local minima. Additionally, the distance factor for the target point is included in the formula to ensure that the total force becomes zero when the vehicle reaches the target point.
- 3.
- This study presents an improved sliding mode controller that incorporates error fusion to ensure vehicle driving stability and tracking accuracy, taking into consideration both lateral and heading errors. By utilizing the improved APF algorithm, an optimized path is computed, incorporating vehicle kinematics and dynamics, which is then utilized as input for the lower controller responsible for path tracking. This aims to verify the feasibility of the planned path and evaluate the effectiveness of the enhanced tracking controller.
- 4.
- To verify the effectiveness of path planning and tracking, this study uses the Carsim–Simulink joint simulation platform. The experiment encompasses both static and dynamic scenarios. The static scene involves designing an environment with obstacles and two lanes ahead and utilizing an improved APF method to devise secure routes for vehicles. A vehicle with moving obstacles is placed in the dynamic scene, and the improved APF proposed in this study is used to generate an optimized and safe path for the autonomous vehicle. The experimental results demonstrate that the planned driving path is fully compliant with safety and road constraints, allowing for the vehicle to smoothly reach the endpoint.
2. Path Planning Algorithm
2.1. Traditional APF Algorithm
2.2. Improved APF Method
2.2.1. The Region of Repulsive Field Action
2.2.2. Road Repulsion Field
2.2.3. Target Point Distance Factor
2.2.4. Virtual Sub-Target Point
2.2.5. Velocity Repulsive Field
2.3. Path Optimization Algorithm for a Planned Path
3. Path Tracking Controller
3.1. Vehicle Model
3.2. Design of an Improved SMC Controller
4. Simulation Analysis
4.1. Simulation Analysis of Path Planning
- (1)
- Scenario 1: Changing lanes (static)
- (2)
- Scenario 2: Static overtaking
- (3)
- Scenario 3: Dynamic overtaking
4.2. Simulation Analysis of Path Tracking Control
- (1)
- Scenario 1: Changing lanes (static)
- (2)
- Scenario 2: Static overtaking
- (3)
- Scenario 3: Dynamic overtaking
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Methods | Merits | Drawbacks |
---|---|---|
Based on the safe distance model | Driving safety | Restricted turning radius |
Algorithm fusion | Real-time performance of path planning | Difficulty in setting the threshold |
Improvement in the repulsive field | Driving safety, vehicle Stability | Poor adaptability to complex environments |
Improvement in the gravitational field | Feasibility of path planning, vehicle Stability | Constraints of the traffic environment |
Multi-condition model | Driving safety | Poor adaptability to complex environments |
Methods | Merits | Drawbacks |
---|---|---|
Hierarchical dynamic drift controller | High tracking accuracy | Poor system stability |
Discrete LQR | Simple calculations | Weak steering stability |
Super twisted SMC | Good system stability | Long calculation time |
Integral terminal SMC | Fast convergence speed | Poor system stability |
Adaptive integral terminal SMC | Good system stability | Poor tracking accuracy |
Algorithm | Length (m) | Planning Time (s) | Maximum Curvature (1/m) |
---|---|---|---|
G-APF | 60.145 | 0.024 | 0.788 |
I-APF | 60.286 | 0.011 | 0.201 |
O-I-APF | 60.009 | 0.012 | 0.033 |
Algorithm | Length (m) | Planning Time (s) | Maximum Curvature (1/m) |
---|---|---|---|
G-APF | 60.491 | 0.019 | 1.164 |
I-APF | 61.635 | 0.009 | 0.797 |
O-I-APF | 60.965 | 0.011 | 0.236 |
Algorithm | Length (m) | Planning Time (s) | Maximum Curvature (1/m) |
---|---|---|---|
G-APF | 54.218 | 0.021 | 1.371 |
I-APF | 54.114 | 0.016 | 0.167 |
O-I-APF | 53.731 | 0.018 | 0.014 |
Parameters (Units) | Value |
---|---|
Distance from the center of mass to the front axis a (m) | 1.015 |
Distance from the center of mass to the rear axis b (m) | 1.895 |
Height of the center of mass h (m) | 0.54 |
Vehicle mass m (kg) | 1270 |
Moment of inertia Iz (kg·m2) | 1536 |
Effective radius of wheel r (m) | 0.325 |
Front wheel lateral stiffness k1/(N·rad−1) | 56,500 |
Rear wheel lateral stiffness k2/(N·rad−1) | 66,500 |
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Zhang, Y.; Liu, K.; Gao, F.; Zhao, F. Research on Path Planning and Path Tracking Control of Autonomous Vehicles Based on Improved APF and SMC. Sensors 2023, 23, 7918. https://doi.org/10.3390/s23187918
Zhang Y, Liu K, Gao F, Zhao F. Research on Path Planning and Path Tracking Control of Autonomous Vehicles Based on Improved APF and SMC. Sensors. 2023; 23(18):7918. https://doi.org/10.3390/s23187918
Chicago/Turabian StyleZhang, Yong, Kangting Liu, Feng Gao, and Fengkui Zhao. 2023. "Research on Path Planning and Path Tracking Control of Autonomous Vehicles Based on Improved APF and SMC" Sensors 23, no. 18: 7918. https://doi.org/10.3390/s23187918
APA StyleZhang, Y., Liu, K., Gao, F., & Zhao, F. (2023). Research on Path Planning and Path Tracking Control of Autonomous Vehicles Based on Improved APF and SMC. Sensors, 23(18), 7918. https://doi.org/10.3390/s23187918