Abstract
Ant colony algorithm or artificial potential field is commonly used for path planning of autonomous vehicle. However, vehicle dynamics and road adhesion coefficient are not taken into consideration. In addition, ant colony algorithm has blindness/randomness due to low pheromone concentration at initial stage of obstacle avoidance path searching progress. In this article, a new fusion algorithm combining ant colony algorithm and improved potential field is introduced making autonomous vehicle avoid obstacle and drive more safely. Controller of path planning is modeled and analyzed based on simulation of CarSim and Simulink. Simulation results show that fusion algorithm reduces blindness at initial stage of obstacle avoidance path searching progress and verifies validity and efficiency of path planning. Moreover, all parameters of vehicle are changed within a reasonable range to meet requirements of steering stability and driving safely during path planning progress.
Highlights
Statistics show that traffic accidents account for 90% of safety accidents around the world, among which more than 80% casualties were confirmed in traffic accidents.[1]
An appropriate path which considering the constraint of vehicle dynamics, traffic regulations, and road adhesion coefficient can be planned by using this fusion method
In the initial stage of path planning, pheromone concentration used for path searching is insufficient, transfer probability function of ant colony algorithm is adjusted by introducing improved potential field as heuristic information, and weight is introduced to consider influence of road adhesion coefficient and vehicle speed on choice of path
Summary
Statistics show that traffic accidents account for 90% of safety accidents around the world, among which more than 80% casualties were confirmed in traffic accidents.[1]. Keywords Autonomous vehicle, path planning, fusion algorithm (improved ant colony algorithm (IACA), improved artificial potential field (IAPF)), road adhesion coefficient, environment perception, pheromone update Traffic regulations, and road adhesion coefficient should be considered when it comes to obstacle avoidance path planning for autonomous vehicle.
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