基于人工势场算法的智能车辆路径规划仿真

A Simulation on the Path Planning of Intelligent Vehicles Based on Artificial Potential Field Algorithm

将人工势场算法运用到智能车辆路径规划中,提出按照正弦避障换道方式以最小安全距离作为对称距离构建障碍点模型的方法,保证局部目标点处于对称轴线上,通过智能车辆行驶速度和转弯半径对转向角进行约束控制。最后,通过Prescan和Matlab软件联合仿真,验证算法的可行性和准确性,仿真结果表明算法能规划出平滑的目标路径,实现智能车辆平稳安全的路径规划与跟踪控制。

Artificial potential field algorithm is applied to intelligent vehicle path planning, a modeling scheme of obstacle point model with a sinusoidal lane change path for obstacle avoidance is proposed, taking the minimum safe distance as symmetrical distance and ensuring local target point is located on symmetrical axis. T h e n a restraint control is applied on steering angle based on the running speed and turning radius of intelligent vehicle. Fi- nally,a Prescan/Matlab co-simulation is conducted to verify the feasibility and correctness of the algorithm applied. The results of simulation show that the algorithm can well work out the smooth target path,realizing the stable and safe path planning and tracking control of intelligent vehicle.