Local path planning for autonomous vehicle collision avoidance based on dangerous repellant fields
Cao Hao-tian · Gongcheng sheji · 2012
Aiming at the frequency and complexity of traffic accidents on straight road,according to artificial potential field theory,this paper presents a local path planning algorithm for autonomous vehicle collision avoidance based on dangerous repellant fields.By constructing a model of China abacus-like road with two-lane and dangerous repellant fields,bead achieved the equilibrium which is based on road boundary repellant,obstacle boundary repellant and linear spring tension.Thus,we got a non-linear equations,and solved out a non-collision trajectory which meets the requirements of vehicle system dynamics by using Newton iteration.Simulation experimental results show that the algorithm for vehicle collision avoidance is effective with the characteristics like little computation workload,good real-time performance and outstanding security and reliability.