Collision-free path planning for lane keeping system of intelligent vehicle
Wang Ming-le · Journal of Hefei University of Technology · 2014
Considering the possibility of obstacles existing on the road when the lane keeping system is utilized for the driver assistance,the multisensory fusion based local collision-free path planning of the intelligent vehicle is studied.Firstly,the traversable road boundaries are detected by using a monocular vision sensor and a target path and virtual obstacles are generated by combining the detected boundaries and the road information consequently.Secondly,the possible real obstacles existing on the road are detected by using the fusion information from laser ranging radar and vision sensors.Finally,the real obstacles detected by sensors are combined with virtual obstacles,and a local collisionfree path is planned by using improved vector field histogram(VFH)method.The results of simulation experiment indicate the validity of the proposed collision-free path planning method.