Research on Global Oriented Path Planning Fusion Algorithm for Intelligent Vehicles

For the problems of path planning on curved roads，a path planning fusion algorithm based on global oriented artificial potential field method is proposed in this paper. Considering the curved road conditions，a grid map based on deformed grid is constructed. Considering the driving risk in the road environment，the heuristic function of A* algorithm is optimized based on the driving risk field theory. To improve the limitation and inherent defects of the traditional artificial potential field method，in view of the outline shapes of the subject vehicle，envi⁃ ronment vehicles and obstacles，the artificial potential field method is improved as the local path planning method by introducing in the globally guided path. Taking the path planned by the improved A* algorithm as the global opti⁃ mal guided path，the path planning fusion algorithm is designed based on the improved artificial potential field method. The simulation results show that the proposed fusion algorithm can generate effective and reasonable driving path，which is close to the real vehicle path extracted from the dataset. Moreover，the path planned in the environ⁃ ment with obstacles is safe and efficient，meeting the driving requirements of the vehicle. © 2024 SAE-China. All rights reserved.