Dynamic Local Path Planning for Intelligent Vehicles Based on Sampling Area Point Discrete and Quadratic Programming

This paper proposes a dynamic path planning method based on discrete optimization applied to suburban highways or expressways. We optimize the generated candidate points according to the cost function and then generates a local path through the quintic spline curve. The kinematics and obstacle bound...

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Main Authors: Haobin Jiang, Jian Pi, Aoxue Li, Chenhui Yin
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/9795289/
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author Haobin Jiang
Jian Pi
Aoxue Li
Chenhui Yin
author_facet Haobin Jiang
Jian Pi
Aoxue Li
Chenhui Yin
author_sort Haobin Jiang
collection DOAJ
description This paper proposes a dynamic path planning method based on discrete optimization applied to suburban highways or expressways. We optimize the generated candidate points according to the cost function and then generates a local path through the quintic spline curve. The kinematics and obstacle boundary conditions are set up to improve the reliability of the planned path. Meanwhile, the two-dimensional normal distribution obstacle cost function, comfort cost function and acceleration cost function are designed to evaluate candidate points and speed. Various types of roads scenes, including dynamic and static obstacles, such as straight roads, S- bend, are established to verify the method’s feasibility. The simulation shows that the method can efficiently avoid various obstacles and plan an ideal path that complies with traffic laws.
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spelling doaj.art-8ef92489f9a548e681ef29c0266940022022-12-22T00:57:31ZengIEEEIEEE Access2169-35362022-01-0110702797029410.1109/ACCESS.2022.31831549795289Dynamic Local Path Planning for Intelligent Vehicles Based on Sampling Area Point Discrete and Quadratic ProgrammingHaobin Jiang0https://orcid.org/0000-0002-0851-479XJian Pi1https://orcid.org/0000-0002-0772-4226Aoxue Li2https://orcid.org/0000-0002-5824-1013Chenhui Yin3https://orcid.org/0000-0002-6200-3413Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, ChinaThis paper proposes a dynamic path planning method based on discrete optimization applied to suburban highways or expressways. We optimize the generated candidate points according to the cost function and then generates a local path through the quintic spline curve. The kinematics and obstacle boundary conditions are set up to improve the reliability of the planned path. Meanwhile, the two-dimensional normal distribution obstacle cost function, comfort cost function and acceleration cost function are designed to evaluate candidate points and speed. Various types of roads scenes, including dynamic and static obstacles, such as straight roads, S- bend, are established to verify the method’s feasibility. The simulation shows that the method can efficiently avoid various obstacles and plan an ideal path that complies with traffic laws.https://ieeexplore.ieee.org/document/9795289/Intelligent vehicleslocal path planningdynamic planningcost functiondiscrete optimization
spellingShingle Haobin Jiang
Jian Pi
Aoxue Li
Chenhui Yin
Dynamic Local Path Planning for Intelligent Vehicles Based on Sampling Area Point Discrete and Quadratic Programming
IEEE Access
Intelligent vehicles
local path planning
dynamic planning
cost function
discrete optimization
title Dynamic Local Path Planning for Intelligent Vehicles Based on Sampling Area Point Discrete and Quadratic Programming
title_full Dynamic Local Path Planning for Intelligent Vehicles Based on Sampling Area Point Discrete and Quadratic Programming
title_fullStr Dynamic Local Path Planning for Intelligent Vehicles Based on Sampling Area Point Discrete and Quadratic Programming
title_full_unstemmed Dynamic Local Path Planning for Intelligent Vehicles Based on Sampling Area Point Discrete and Quadratic Programming
title_short Dynamic Local Path Planning for Intelligent Vehicles Based on Sampling Area Point Discrete and Quadratic Programming
title_sort dynamic local path planning for intelligent vehicles based on sampling area point discrete and quadratic programming
topic Intelligent vehicles
local path planning
dynamic planning
cost function
discrete optimization
url https://ieeexplore.ieee.org/document/9795289/
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AT jianpi dynamiclocalpathplanningforintelligentvehiclesbasedonsamplingareapointdiscreteandquadraticprogramming
AT aoxueli dynamiclocalpathplanningforintelligentvehiclesbasedonsamplingareapointdiscreteandquadraticprogramming
AT chenhuiyin dynamiclocalpathplanningforintelligentvehiclesbasedonsamplingareapointdiscreteandquadraticprogramming