The invention provides an artificial potential field method for automatic driving vehicle decision-making layer path planning, and the method comprises the steps: S1, building a road environment through an artificial potential field method, and enabling a vehicle to drive in a road boundary; S2, acquiring surrounding information through a vehicle sensing device, and establishing different potential field functions for different types of obstacles, so the vehicle has different processing modes for different obstacles; S3, planning a set of safety paths according to the established potential field environment, and optimizing by using an improved genetic algorithm to find the shortest path. According to the method, the driving environment of an automatic driving vehicle is established by using an artificial potential field method, so that the vehicle performs different driving operations on different types of obstacles, and the improved genetic algorithm is used for optimizing the path, so that the vehicle is driven safely, and the energy consumption is minimum.

    本发明提供自动驾驶车辆决策层路径规划的人工势场方法,包括S1,通过人工势场方法建立道路环境,使得车辆行驶在道路边界之内;S2,通过车辆感知装置获知周围信息,并将不同种类的障碍物建立不同的势场函数,使得车辆面对不同的障碍物有不同的处理方式;S3,根据建立的势场环境,可规划出安全路径的集合,使用改进的遗传算法进行优化,找到最短路径。本发明使用人工势场方法建立自动驾驶车辆行驶环境,使得车辆对于不同种类的障碍物进行不同的行驶操作,并且使用改进遗传算法对路径进行优化,使得车辆安全行驶且能量消耗最小。


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    Title :

    Artificial potential field method for automatic driving vehicle decision-making layer path planning


    Additional title:

    自动驾驶车辆决策层路径规划的人工势场方法


    Contributors:
    YANG CHAO (author) / WANG WEIDA (author) / LIU WENJIE (author) / XU BIN (author) / WANG MUYAO (author) / LU SHEN (author) / ZHAO JING (author) / ZHANG YUHANG (author)

    Publication date :

    2020-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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