Vehicle path planning modeling under abnormal weather based on digital twins
XU Ruiping
GUO Changxin
Abstract：In order to solve the problem of shortage of training samples in vehicle path planning due to the uncertainty of sensor data collection in the current automatic driving system under abnormal weather,the digital twin technology was applied to vehicle planning and control in complex road conditions of the automatic driving system.By building the digital twin framework of the automatic driving planning and control system,the physical entity data and virtual data are fused to expand the twin data under abnormal weather,and the numerical optimization planning algorithm is adopted to plan the complex road conditions under abnormal weather,and the model predictive control algorithm(MPC)is simulated to realize the vehicle's tracking of the optimal path.It shows the high efficiency and convenience of using digital twin technology to create simulated abnormal weather,and verifies the feasibility of using twin data for vehicle trajectory planning and tracking.
Keywords：abnormal weatherautonomous drivingdigital twinsnumerical optimizationtrajectory tracking
Publication Date：2024-07-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 1-9 )