Research on Static Obstacle Avoidance Planning Algorithm for Autonomous Vehicles
Yaofu Wang, Huang Long, Zhigang Jin, Xiaowei Chen · 2024
To solve the obstacle avoidance ability of autonomous vehicles against static obstacles under conditions of bicycles and enclosed areas. A path planning method based on static obstacle state reconstruction was designed, which takes the vehicle information, obstacle information, road information, and original path information as basic inputs, and outputs new path information, speed information, and proxy value after re planning. Static obstacle avoidance adopts heuristic search frameworks and planning result correction modules to enhance its static obstacle avoidance ability and global path smoothness, while ensuring driving safety.