Research On The Path Planning For Automatic Driving Of Intelligent Vehicle

With the scientific progress and economic development,the vehicle has become an indispensable means of transport in people's lives.On the one hand the cars can save travel time,bring people to drive fun,greatly facilitate people's daily life;the other hand,there are a lot of traffic accidents due to the driver caused by traffic accidents.Also urban traffic congestion,environmental pollution and energy shortages and other issues are increasing.At this time,the emergence of intelligent vehicles has given people hope for an effective solution to these problems,and the fourth industrial revolution,represented by the Internet of Things,provides a prospect and application market for the development of intelligent vehicles in various disciplines.In this paper,intelligent vehicle automatic driving is the research object,focusing on the study of path planning.The research mainly includes vehicle kinematics and dynamics system modeling,vehicle obstacle avoidance analysis and modeling,and vehicle path planning intelligent algorithm.This paper puts forward the significance of intelligent vehicle driving path planning research,and introduces the development and current situation of intelligent vehicle at home and abroad.The key technologies of intelligent vehicle are classified and described,and the key technologies of environmental perception,behavior decision,and path planning and motion control are analyzed and described respectively.The kinematics and dynamics of the vehicle are modeled and analyzed,and the vehicle two degree of freedom linear model is established.At the same time,it also analyzes the turning model and tire model of the vehicle to lay the foundation for the intelligent vehicle obstacle avoidance model,and restrain the front wheel angle of the vehicle to ensure the safety control of the vehicle driving.According to the characteristics of intelligent vehicle driving,combined with the traditional driver's perception and judgment of the environment,the intelligent vehicle obstacle avoidance analysis is carried out.According to the analysis,the obstacle avoidance model is used to model the obstacle avoidance.The only parameter lateral acceleration time is analyzed.At the same time,in order to ensure the safety of vehicle driving,the braking distance and the minimum safety distance of the vehicle are described respectively,which lays the foundation for the future obstacle avoidance model.In this paper,the intelligent algorithm for intelligent vehicle driving path planning is established by using the artificial potential field algorithm in view of the simple principle of the artificial potential field algorithm and the great advantage of the planned path smoothing.Through the analysis and simulation of the traditional artificial potential field algorithm,the two problems that the method often appears in the path planning are that the target is unreachable and easy to fall into the local minimum.Through the processing of obstacle point modeling,adding intelligent vehicle dynamics and kinematic constraints,to solve the traditional algorithm of the problem,but also to meet the intelligent vehicle driving safety and comfort requirements.Aiming at the proposed algorithm,the simulation and simulation of Prescan and Matlab/Simulink are carried out,and the intelligent control method of intelligent vehicle is verified by the design method.The test environment is builded in the Prescan software,and using Matlab/Simulink software to control the vehicle.The simulation results show that the algorithm is feasible and effective.At the same time,the path planning control simulation of different speed is carried out.The simulation results show the robustness of the algorithm.