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Collision Avoidance Path Planning for Automated Vehicles Using Prediction Information and Artificial Potential Field.

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  • 1Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Republic of Korea.

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Summary
This summary is machine-generated.

This study enhances autonomous driving safety by integrating surrounding vehicle prediction data into artificial potential fields (APF) and optimizing path planning. This approach overcomes APF

Keywords:
Bézier curveartificial potential fieldautonomous drivingcollision avoidancepath planningsequential quadratic planning

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Area of Science:

  • Autonomous Driving Systems
  • Robotics and Control Theory
  • Path Planning Algorithms

Background:

  • Advancements in autonomous driving necessitate robust emergency avoidance path planning.
  • Current artificial potential field (APF) methods face local minimum issues, hindering path completion.
  • Integrating surrounding vehicle predictions is crucial for enhanced driving safety and stability.

Purpose of the Study:

  • To develop an improved emergency avoidance path planning method for autonomous vehicles.
  • To address the local minimum problem inherent in traditional APF algorithms.
  • To enhance the efficiency and stability of autonomous driving through predictive path planning.

Main Methods:

  • Integration of surrounding vehicle prediction data into the artificial potential field (APF) framework.
  • Optimization of quintic Bézier curve control points using sequential quadratic programming.
  • Simulation validation using IPG CarMaker and MATLAB/Simulink environments.

Main Results:

  • The proposed method effectively integrates predictive data into APF for improved path planning.
  • Optimization of Bézier curves enhances trajectory generation and stability.
  • Simulations confirmed the method's validity and effectiveness in complex scenarios.

Conclusions:

  • The novel approach successfully mitigates the local minimum problem in APF path planning.
  • Integrating prediction data and optimizing Bézier curves leads to more efficient and stable autonomous driving.
  • The validated method offers a significant advancement for autonomous vehicle safety systems.