基于势能场虚拟力的智能网联车辆运动规划

doi:10.19562/j.chinasae.qcgc.2021.04.009

Abstract

Abstract:

Traditional artificial potential field method has the problems of speed oscillation in longitudinal motion planning， and difficulty in realization of lateral motion planning. A virtual force model based on artificial potential field is established in this paper and a motion planning method of vehicle based on virtual force model of potential field under intelligent connected traffic environment is proposed. By evaluating the motion state of the vehicle and its surrounding vehicles， a virtual force based on vehicle position and speed is generated， and the driving trajectory and speed planning of non?oscillating car following and lane changing are realized. The simulation results show that the proposed method can achieve safe， feasible and smooth collision?free path planning， and can overcome the oscillation problem in traditional potential field motion planning process. By comparing with the real trajectory in driving dataset of highD， it shows that the motion planning based on the virtual force of potential field is approximately consistent with the data of highD， which demonstrates its practicability.

Key words: intelligent connected vehicle, motion planning, potential field, virtual force

Hongqing Tian,Feng Ding,Xunjia Zheng,Heye Huang,Jianqiang Wang. Motion Planning Based on Virtual Force of Potential Field for Intelligent Connected Vehicles[J].Automotive Engineering, 2021, 43(4): 518-526.

Figures/Tables 18

References 18

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仿真参数	数值
整车质量/kg	1 600
前车车速/(m?s^-1)	24
自车车速/(m?s^-1)	26/28/30/32/34/36
初始车距/m	60
采样时间/s	0.1

仿真参数	数值
前车车速/(m?s^-1)	20
自车车速/(m?s^-1)	22/24/26/28/30/32
初始车距/m	60

初速度/(m?s^-1)	最小车距/m	最大曲率/(10^-4?m^-1)	最大横向加速度/(m?s^-2)	车辆最大转角/(o)
22	51.2	2.083	0.23	2.07
24	45.1	2.083	0.23	2.07
26	39.9	2.080	0.28	2.22
28	35.4	2.067	0.51	2.70
30	31.4	2.050	0.81	3.11
32	26.6	2.025	1.22	3.48

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Motion Planning Based on Virtual Force of Potential Field for Intelligent Connected Vehicles

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