Abstract:

A path planning algorithm based on the modified artificial potential field method and a path tracking optimal guaranteed cost control strategy based on the linear robust control theory for overtaking maneuver of autonomous vehicle on curved road are proposed in this paper. Firstly， the attractive potential field on curve， the repulsive potential field of the leading vehicle with lower speed on the same lane and the repulsive potential fields of curve boundary are built based on the spiral descent function， the slope sine function and the exponential function ，respectively， which form the search space of overtaking path on curve. Then， an incremental search algorithm， which can be applied to dynamic circumstance， is designed to search the fastest descent direction in search space for overtaking path on curve step by step， and the planned overtaking path on curve is obtained. In order to implement the planned path on curve， an overtaking path tracking error dynamic model for curve with parameter perturbation is established based on the 2-DOF linear vehicle dynamics model， and a path tracking optimal guaranteed cost control strategy for overtaking on curve is designed based on the linear robust control theory. Finally， a simulation is performed to verify the feasibility and effectiveness of the path planning algorithm and path tracking optimal guaranteed cost control strategy and the results show that the path planning algorithm and path tracking control strategy proposed can guide the vehicle to complete the overtaking maneuver on curve safely and comfortably.

Key words: path planning and tracking control, modified artificial potential field method, incremental search algorithm, robust control, optimal guaranteed cost control