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Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment
Joint Authors
Chen, Jiajia
Zhang, Rui
Han, Wei
Jiang, Wuhua
Hu, Jinfang
Lu, Xiaoshan
Liu, Xingtao
Zhao, Pan
Source
Journal of Advanced Transportation
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-11-27
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
The autonomous vehicle consists of perception, decision-making, and control system.
The study of path planning method has always been a core and difficult problem, especially in complex environment, due to the effect of dynamic environment, the safety, smoothness, and real-time requirement, and the nonholonomic constraints of vehicle.
To address the problem of travelling in complex environments which consists of lots of obstacles, a two-layered path planning model is presented in this paper.
This method includes a high-level model that produces a rough path and a low-level model that provides precise navigation.
In the high-level model, the improved Bidirectional Rapidly-exploring Random Tree (Bi-RRT) based on the steering constraint is used to generate an obstacle-free path while satisfying the nonholonomic constraints of vehicle.
In low-level model, a Vector Field Histogram- (VFH-) guided polynomial planning algorithm in Frenet coordinates is introduced.
Based on the result of VFH, the aim point chosen from improved Bi-RRT path is moved to the most suitable location on the basis of evaluation function.
By applying quintic polynomial in Frenet coordinates, a real-time local path that is safe and smooth is generated based on the improved Bi-RRT path.
To verify the effectiveness of the proposed planning model, the real autonomous vehicle has been placed in several driving scenarios with different amounts of obstacles.
The two-layered real-time planning model produces flexible, smooth, and safe paths that enable the vehicle to travel in complex environment.
American Psychological Association (APA)
Chen, Jiajia& Zhang, Rui& Han, Wei& Jiang, Wuhua& Hu, Jinfang& Lu, Xiaoshan…[et al.]. 2020. Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment. Journal of Advanced Transportation،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1175905
Modern Language Association (MLA)
Chen, Jiajia…[et al.]. Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment. Journal of Advanced Transportation No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1175905
American Medical Association (AMA)
Chen, Jiajia& Zhang, Rui& Han, Wei& Jiang, Wuhua& Hu, Jinfang& Lu, Xiaoshan…[et al.]. Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment. Journal of Advanced Transportation. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1175905
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1175905