To address the significant impact of different driving paths on vehicle safety and comfort during the driving process of autonomous vehicles, a polynomial function based obstacle avoidance path planning method is proposed. Using the vehicle states at the starting and ending points of the path as boundary conditions, the obstacle avoidance path equation is derived based on polynomial curves. The LQR lateral control algorithm and dual PID longitudinal control algorithm were used to verify the planned path on a real vehicle. The results of the real vehicle test showed that the obstacle avoidance path planning method based on polynomial function has good executable performance, safety, and comfort.
Research on obstacle avoidance path planning method for unmanned vehicles
Third International Conference on Intelligent Traffic Systems and Smart City (ITSSC 2023) ; 2023 ; Xi'an, China
Proc. SPIE ; 12989
2024-04-09
Conference paper
Electronic Resource
English
OBSTACLE AVOIDANCE, PATH PLANNING AND CONTROL FOR AUTONOMOUS VEHICLES
British Library Conference Proceedings | 2019
|SAGE Publications | 2021
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