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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Format: | Article |
Language: | English |
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IEEE
2022-01-01
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Series: | IEEE Access |
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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. |
first_indexed | 2024-12-11T17:11:55Z |
format | Article |
id | doaj.art-8ef92489f9a548e681ef29c026694002 |
institution | Directory Open Access Journal |
issn | 2169-3536 |
language | English |
last_indexed | 2024-12-11T17:11:55Z |
publishDate | 2022-01-01 |
publisher | IEEE |
record_format | Article |
series | IEEE Access |
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/ |
work_keys_str_mv | AT haobinjiang dynamiclocalpathplanningforintelligentvehiclesbasedonsamplingareapointdiscreteandquadraticprogramming AT jianpi dynamiclocalpathplanningforintelligentvehiclesbasedonsamplingareapointdiscreteandquadraticprogramming AT aoxueli dynamiclocalpathplanningforintelligentvehiclesbasedonsamplingareapointdiscreteandquadraticprogramming AT chenhuiyin dynamiclocalpathplanningforintelligentvehiclesbasedonsamplingareapointdiscreteandquadraticprogramming |