Research on obstacle avoidance path planning method for unmanned vehicles

Abstract

To address the significant impact of different driving paths on vehicle safety and comfort during the driving process of autonomous vehicles, a polynomial function based obstacle avoidance path planning method is proposed. Using the vehicle states at the starting and ending points of the path as boundary conditions, the obstacle avoidance path equation is derived based on polynomial curves. The LQR lateral control algorithm and dual PID longitudinal control algorithm were used to verify the planned path on a real vehicle. The results of the real vehicle test showed that the obstacle avoidance path planning method based on polynomial function has good executable performance, safety, and comfort.