Overtaking path planning method for intelligent connected vehicle
MA Qing-lu
LI Mei-qiang
HUANG Guang-hao
GAO Yong
Abstract：Aiming at the problem of overtaking path planning of autonomous vehicles,an improved artificial potential field method is proposed,and a new gravitational potential field and a repulsive potential field are constructed by introducing relative speed.A road boundary potential field is established to regulate the driving area.The influence distance of obstacles is segmented to solve the local extreme value problem.The vehicle dynamics-related constraints are integrated into the artificial potential field method to establish the overtaking path driving potential field model.The inner ring expressway in Chongqing is selected as the prototype of the test road network.Data collection methods such as unmanned aerial vehicles and fixed-point cameras are used for field investigation,and use the MATLAB/Simulink,the CarSim,and the PreScan for joint simulation analysis.The experimental results show that compared with the traditional artificial potential field method,the curvature of the overtaking path is reduced by 85.07％,62.69％and 83.86％,respectively,under the conditions that the preceding vehicle is stationary,the preceding vehicle is at a uniform speed,and the preceding vehicle is decelerating.The lateral acceleration is less than 0.13 m/s2.The improved path planning algorithm can successfully achieve smooth overtaking,and the comfort of drivers and passengers is significantly improved.
Keywords：automatic driveovertaking path planningartificial potential field methodjoint simulation
Publication Date：2024-10-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：17( 1882-1898 )