Research on Path Planning of Intelligent Vehicle Expressway
Kang Peng, Gang Li, Hao Wang, Jiqing Li, Huan Meng · 2023
Path planning is one of the technologies of intelligent vehicles, and planning a reasonable path is beneficial for the safety of automobile driving, to address the problem of poorly oriented search objectives in RRT* algorithm planning, two methods are used during the sampling process: target point biased sampling and sampling point area limitation, Further constraining the planning path and sampling region allows the tree to grow only towards the region of the target location, reducing the randomness of the planning process, Collision detection is implemented by using the obstacle vehicle volume inflation method to keep the path away from obstacles. Furthermore, a Bezier curve is utilized to fit and optimize the path. The improved algorithm is simulated and validated for lane changing scenarios of intelligent vehicles on highways. The results demonstrate that the algorithm successfully plans the path for the intelligent vehicle to perform lane changes.