改进人工势场法的无人车换道避障路径规划  

Lane-changing obstacle avoidance path planning of unmanned vehicles based on improved artificial potential field method

作　　者：刘公伟 赵强[1] LIU Gongwei;ZHAO Qiang(School of Traffic and Transportation,Northeast Forestry University,Harbin 150040,China)

机构地区：[1]东北林业大学交通学院,哈尔滨150040

出　　处：《导航定位学报》2023年第3期112-118,178,共8页Journal of Navigation and Positioning

基　　金：黑龙江省重点研发计划项目(JD22A014);黑龙江省留学归国人员科学基金项目(LC2015019)。

摘　　要：为了进一步对无人驾驶汽车换道避障工况中的传统人工势场法(APF)进行优化,提出一种改进的人工势场算法:为解决目标不可达和局部最优问题,更改障碍物斥力势场函数与斥力势场作用范围;为更好地实现障碍物动态环境下的换道避障,建立相对速度斥力势场;为使被控车换道完成后能在车道中心线附近行驶,建立新型道路势场;为满足汽车侧向行驶条件,利用B样条(B-spline)路径簇筛选合适路径。实验结果表明,被控车行驶航向角小于(π/5)rad,生成的路径曲率绝对值小于0.2 m^(-1),提出的方法可以较好地保证规划路径的平顺性和安全性。In order to further optimize the traditional artificial potential field(APF)method in lane-changing obstacle avoidance conditions of unmanned vehicles,the paper proposed an improved APF algorithm:in order to solve the problems of unreachable targets and being trapped into local optimum,the repulsive potential field function and the action scope of the repulsive potential field of obstacles were changed;and in order to better realize lane changing obstacle avoidance in dynamic obstacle environment,the relative velocity repulsive potential field was established;then,in order to enable the controlled vehicle to drive near the lane center line after lane change,a new road potential field was established;finally,to satisfy the lateral driving condition,B-spline path cluster was used to select the appropriate path.Experimental results showed that the heading angle of the controlled vehicle would be not more than(π/5)rad,and the absolute value of the generated path curvature would be less than 0.2 m^(-1),indicating that the proposed method could help ensure the smoothness and security of the planning paths.

关 键 词：无人车辆 换道避障 路径规划 人工势场法(APF) B样条曲线 

分 类 号：U463.6[机械工程—车辆工程] P228[交通运输工程—载运工具运用工程]