Active Obstacle Avoidance Trajectory Planning for Vehicles Based on Obstacle Potential Field and MPC in V2P Scenario

Pan, Ruoyu; Jie, Lihua; Zhao, Xinyu; Wang, Honggang; Yang, Jingfeng; Song, Jiwei

doi:10.3390/s23063248

Cited by 9 publications

(6 citation statements)

References 28 publications

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“…V2X encompasses various communication types, including Vehicle-to-Vehicle (V2V), Vehicleto-Network (V2N), Vehicle-to-Infrastructure (V2I), and Vehicle-to-Pedestrian (V2P) [21]. Given that V2P typically focuses on predicting collision risks between pedestrians and vehicles [22], with lower relevance to video transmission, this section will focus on the introduction of V2I, V2V, and V2N.…”

Section: Characteristics Of Vehicular Networkmentioning

confidence: 99%

A Survey on Video Streaming for Next-Generation Vehicular Networks

Huang,

Cheng,

Lien

et al. 2024

Electronics

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As assisted driving technology advances and vehicle entertainment systems rapidly develop, future vehicles will become mobile cinemas, where passengers can use various multimedia applications in the car. In recent years, the progress in multimedia technology has given rise to immersive video experiences. In addition to conventional 2D videos, 360° videos are gaining popularity, and volumetric videos, which can offer users a better immersive experience, have been discussed. However, these applications place high demands on network capabilities, leading to a dependence on next-generation wireless communication technology to address network bottlenecks. Therefore, this study provides an exhaustive overview of the latest advancements in video streaming over vehicular networks. First, we introduce related work and background knowledge, and provide an overview of recent developments in vehicular networking and video types. Next, we detail various video processing technologies, including the latest released standards. Detailed explanations are provided for network strategies and wireless communication technologies that can optimize video transmission in vehicular networks, paying special attention to the relevant literature regarding the current development of 6G technology that is applied to vehicle communication. Finally, we proposed future research directions and challenges. Building upon the technologies introduced in this paper and considering diverse applications, we suggest a suitable vehicular network architecture for next-generation video transmission.

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Section: Characteristics Of Vehicular Networkmentioning

confidence: 99%

A Survey on Video Streaming for Next-Generation Vehicular Networks

Huang,

Cheng,

Lien

et al. 2024

Electronics

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“…There are also many publications related to road geometry and the trajectories of autonomous vehicles. These works include problems such as trajectory planning, tracking control, and obstacle avoidance, for example in [30][31][32][33][34]. The problem presented in this work concerns the specific and limited problem of developing an optimal trajectory for race motorcycles.…”

Section: Introductionmentioning

confidence: 99%

Influence of the Road Model on the Optimal Maneuver of a Racing Motorcycle

Biniewicz,

Pyrz

2024

Applied Sciences

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Motorcycle motion is largely influenced by the road geometry, which alters the allowable accelerations in longitudinal and lateral directions and influences the vertical wheel loads. Recently, a method for three-dimensional road reconstruction and its incorporation into transient and quasi-steady-state (QSS) minimum lap time simulations (MLTSs) has been proposed. The main purpose of this work is to demonstrate how significantly different results from a minimum lap time optimal control problem can be obtained when using inappropriate elevation data sources in the track reconstruction problem, and how the road model reconstructed using poor input data can lead to misleading conclusions when analyzing real vehicle and driver performances. Two road models derived from high- and low-resolution digital elevation models (DEMs) are compared and their impact on the optimal maneuver of a racing motorcycle is examined. The essentials of track identification are presented, as well as vehicle positioning on the 3D road and the generalized QSS motorcycle model. Obtained 3D and 2D road models are analyzed in detail, on a case example of the Road Atlanta racetrack, and used in minimum lap time simulations, which are validated by the experimental data recorded on the Supersport motorcycle. The comparative analysis showed that great care should be taken when selecting the elevation dataset in the track reconstruction process, and that the 1 m resolution local DEMs seem to be sufficient to obtain MLTS results close to the measured ones. The example of using the 3D free-trajectory QSS minimum lap time problem to localize the track segments where real driver actions can be improved is also presented. The differences between simulation results on different road models of the same racetrack can be large and influence the interpretation of optimal maneuver.

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“…In addition to improving the potential field function, the APF algorithm can also be integrated with other algorithms. This includes the Rapid Exploration Random Tree (RRT) algorithm [11], A* algorithm [12], complex resistivity method [13], ant colony algorithm [14], and cyclic reinforcement learning algorithm [15]. The fusion algorithm can enable autonomous vehicles to avoid obstacles more safely and achieve the purpose of complementary advantages.…”

Section: Introductionmentioning

confidence: 99%

The Dynamic Path Planning of Autonomous Vehicles on Icy and Snowy Roads Based on an Improved Artificial Potential Field

Zhai,

Pei

2023

Sustainability

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The crucial dynamic path planning of autonomous vehicles is achieved via obstacle avoidance path planning technology. The reduction of the tire adhesion coefficient on icy and snowy roads (ISRs) increases the difficulty of autonomous vehicles’ control. In this paper, the driving characteristics of vehicles on ISRs are established, and the artificial potential field function is introduced to avoid collision risk when planning a path. A dynamic path planning algorithm for autonomous vehicles based on the artificial potential field (APF) is established. The adjustment factor is added to the gravitational potential field, and a judgment coefficient is added to the repulsive potential field to improve the artificial potential field function, based on the low adhesion of vehicles on ISRs. Moreover, a path with a continuous curvature is generated to achieve the driving comfort and driving safety of the planned path via trajectory smoothing. By establishing the Carsim/Simulink co-simulation platform, the effectiveness of dynamic path planning for autonomous vehicles under different algorithms and different obstacle models is compared. The results show that the improved APF algorithm has an obvious effect on the smoothness of the path and the reduction of the curvature mutation and can generate a safe and efficient path on icy and snowy roads. The dynamic obstacle avoidance of the improved APF algorithm improves the pre-judgment accuracy of the collision risk assessment of autonomous vehicles and shows the superiority of the improved algorithm.

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Active Obstacle Avoidance Trajectory Planning for Vehicles Based on Obstacle Potential Field and MPC in V2P Scenario

Cited by 9 publications

References 28 publications

A Survey on Video Streaming for Next-Generation Vehicular Networks

A Survey on Video Streaming for Next-Generation Vehicular Networks

Influence of the Road Model on the Optimal Maneuver of a Racing Motorcycle

The Dynamic Path Planning of Autonomous Vehicles on Icy and Snowy Roads Based on an Improved Artificial Potential Field

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