Modeling Short-term Path Planning Using Artificial Potential Field

As the car ownership increases,urban road traffic congestion is becoming more and more serious,and the efficiency of macro traffic flow management measures becomes not enough.In order to find more effective traffic management methods,it is necessary to analyze the driving behavior of individual drivers.During the driving process,driving behavior is affected by multiple factors,such as road environment,other road users and road traffic flow.The decision results are related to the behavior characteristics of the driver.Therefore,it is necessary to consider the driving behavior decision mechanism in a complex road environment with the conbination of the driving style and predicting the vehicle short-term path,so as to provide a basis for formulating more humane and efficient traffic management control measures.In the existing researches related to driving behavior decision,many studies only consider the influence of nearby vehicles without the state of traffic flow,and lack a framework for comprehensive description of complex traffic environment.Since the artificial potential field theory proposed for the study of robot path planning,it has gradually attracted the attention and use of scholars due to its practicality,convenience for low-level control and high computational efficiency.Unlike robots which can move freely in space,vehicle trajectory is constrained by lane.In the current research on vehicle path planning based on the artificial potential field theory,scholars have established the lane edge potential field to describe the constraint effect of the lane.But when considering the moving target of the vehicle,many studies set the attraction of the target to vehicle along the connecting direction as in robot path planning.As vehicles always move in a belt along lane,the attraction of the moving target to the vehicle should also be a strip effect distributed along lane.There is a lack of a strip lane potential field that reflects the attractiveness of the lane.In addition,when reflecting the lane changing intention of the vehicle,the lane changing demand caused by the turning of the vehicle is often ignored,which is an important consideration for the drivers.This article analyzes the traffic environmental factors and the impact on vehicle short-term path.The driver motion characteristic parameter is analyzed by using the vehicle trajectory data,so as to the driving style and its characteristics in vehicle motion.Taking into account the driver’s own decision characteristics and the characteristics of the traffic environment,the restrictions and attraction of the vehicle from the lane to the lane,the collision avoidance behavior of the vehicle when different obstacles are present,and the following of the leading vehicle when the vehicle is following the vehicle,it is proposed to establish a vehicle path planning model based on artificial potential field theory.Finally,the influence of the networked environment on the driving desicion is analyzed,and a method for planning the vehicle movement of short-term path in a networked environment is proposed.