基于栅格化四边形区域与改进人工势场的车辆行驶轨迹研究

Research on Vehicle Trajectory Based on Grid Quadrilateral Region and Improved Artificial Potential Field Method

针对无人驾驶中局部路径规划的问题,采用栅格化四边形区域与改进人工势场相结合的方法,将障碍物势场函数加入车辆与目标点距离,克服了传统人工势场方法的目标不可达与陷入局部最优问题,通过拟合子目标点规划一条合理避障路径。Matlab仿真分析及实车测试结果均表明,采用该方法的无人驾驶车辆具有较好的避障性能。

Aiming at the problem of local path planning in unmanned driving,the method of combining rasterized quadrilateral area and improved artificial potential field was proposed.By using the method of adding the obstacle potential field function to the distance between the vehicle and the target point,The problem of unreachable targets and falling into local optima of the traditional artificial potential field method was overcome.Then,a reasonable obstacle avoidance path was planned by fitting the subtarget points.Matlab simulation analysis and actual vehicle test results show that the driverless vehicle using this method has good obstacle avoidance performance.