Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment
The autonomous vehicle consists of perception, decision-making, and control system. The study of path planning method has always been a core and difficult problem, especially in complex environment, due to the effect of dynamic environment, the safety, smoothness, and real-time requirement, and the...
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| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2020/6649867 |
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| _version_ | 1832546989748781056 |
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| author | Jiajia Chen Rui Zhang Wei Han Wuhua Jiang Jinfang Hu Xiaoshan Lu Xingtao Liu Pan Zhao |
| author_facet | Jiajia Chen Rui Zhang Wei Han Wuhua Jiang Jinfang Hu Xiaoshan Lu Xingtao Liu Pan Zhao |
| author_sort | Jiajia Chen |
| collection | DOAJ |
| description | The autonomous vehicle consists of perception, decision-making, and control system. The study of path planning method has always been a core and difficult problem, especially in complex environment, due to the effect of dynamic environment, the safety, smoothness, and real-time requirement, and the nonholonomic constraints of vehicle. To address the problem of travelling in complex environments which consists of lots of obstacles, a two-layered path planning model is presented in this paper. This method includes a high-level model that produces a rough path and a low-level model that provides precise navigation. In the high-level model, the improved Bidirectional Rapidly-exploring Random Tree (Bi-RRT) based on the steering constraint is used to generate an obstacle-free path while satisfying the nonholonomic constraints of vehicle. In low-level model, a Vector Field Histogram- (VFH-) guided polynomial planning algorithm in Frenet coordinates is introduced. Based on the result of VFH, the aim point chosen from improved Bi-RRT path is moved to the most suitable location on the basis of evaluation function. By applying quintic polynomial in Frenet coordinates, a real-time local path that is safe and smooth is generated based on the improved Bi-RRT path. To verify the effectiveness of the proposed planning model, the real autonomous vehicle has been placed in several driving scenarios with different amounts of obstacles. The two-layered real-time planning model produces flexible, smooth, and safe paths that enable the vehicle to travel in complex environment. |
| format | Article |
| id | doaj-art-0ab712fe22c44662b269e7be17725753 |
| institution | Kabale University |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-0ab712fe22c44662b269e7be177257532025-02-03T06:46:26ZengWileyJournal of Advanced Transportation0197-67292042-31952020-01-01202010.1155/2020/66498676649867Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex EnvironmentJiajia Chen0Rui Zhang1Wei Han2Wuhua Jiang3Jinfang Hu4Xiaoshan Lu5Xingtao Liu6Pan Zhao7School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, ChinaSchool of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, ChinaHefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaThe autonomous vehicle consists of perception, decision-making, and control system. The study of path planning method has always been a core and difficult problem, especially in complex environment, due to the effect of dynamic environment, the safety, smoothness, and real-time requirement, and the nonholonomic constraints of vehicle. To address the problem of travelling in complex environments which consists of lots of obstacles, a two-layered path planning model is presented in this paper. This method includes a high-level model that produces a rough path and a low-level model that provides precise navigation. In the high-level model, the improved Bidirectional Rapidly-exploring Random Tree (Bi-RRT) based on the steering constraint is used to generate an obstacle-free path while satisfying the nonholonomic constraints of vehicle. In low-level model, a Vector Field Histogram- (VFH-) guided polynomial planning algorithm in Frenet coordinates is introduced. Based on the result of VFH, the aim point chosen from improved Bi-RRT path is moved to the most suitable location on the basis of evaluation function. By applying quintic polynomial in Frenet coordinates, a real-time local path that is safe and smooth is generated based on the improved Bi-RRT path. To verify the effectiveness of the proposed planning model, the real autonomous vehicle has been placed in several driving scenarios with different amounts of obstacles. The two-layered real-time planning model produces flexible, smooth, and safe paths that enable the vehicle to travel in complex environment.http://dx.doi.org/10.1155/2020/6649867 |
| spellingShingle | Jiajia Chen Rui Zhang Wei Han Wuhua Jiang Jinfang Hu Xiaoshan Lu Xingtao Liu Pan Zhao Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment Journal of Advanced Transportation |
| title | Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment |
| title_full | Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment |
| title_fullStr | Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment |
| title_full_unstemmed | Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment |
| title_short | Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment |
| title_sort | path planning for autonomous vehicle based on a two layered planning model in complex environment |
| url | http://dx.doi.org/10.1155/2020/6649867 |
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