Research on obstacle avoidance algorithm for high-speed intelligent driving based on Dubins analytical method

Chenhao Sun; Cheng Zhang; Zhipeng Zhang

doi:10.1117/12.3030708

16 May 2024 Research on obstacle avoidance algorithm for high-speed intelligent driving based on Dubins analytical method

Chenhao Sun, Cheng Zhang, Zhipeng Zhang

Author Affiliations +

Proceedings Volume 13160, Fourth International Conference on Smart City Engineering and Public Transportation (SCEPT 2024); 131601B (2024) https://doi.org/10.1117/12.3030708
Event: 4th International Conference on Smart City Engineering and Public Transportation (SCEPT 2024), 2024, Beijin, China

Abstract

This paper proposes an emergency obstacle avoidance algorithm based on Dubins analytical method for high-speed intelligent driving lane change scenarios, which solves the optimal path under high-speed emergency obstacle avoidance through optimal control theory and Dubins analytical algorithm, which has less calculation time than existing algorithms when solving high-speed obstacle avoidance problems, and shorter distance under the condition of ensuring that the trajectory can be executed, which effectively solves the obstacle avoidance problem in this scenario. Then, a series of lane change trajectory simulation tests are carried out in this scenario, which verifies the robustness of the algorithm under actual working conditions.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Chenhao Sun, Cheng Zhang, and Zhipeng Zhang "Research on obstacle avoidance algorithm for high-speed intelligent driving based on Dubins analytical method", Proc. SPIE 13160, Fourth International Conference on Smart City Engineering and Public Transportation (SCEPT 2024), 131601B (16 May 2024); https://doi.org/10.1117/12.3030708

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