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Automatic Obstacle Avoidance Path Planning Optimisation for Intelligent Vehicles Based on Optimal Control Theory

Nenghui Jiang

Nenghui Jiang

College of Automobile and Rail, Anhui Technical College of Mechanical and Electrical EngineeringWuhu, China
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Jiang, Nenghui
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Cheng Li

Cheng Li

  • College of Automobile and Rail, Anhui Technical College of Mechanical and Electrical EngineeringWuhu, China
  • Intelligent Automotive Technology Collaborative Innovation Center, Anhui Technical College of Mechanical and Electrical EngineeringWuhu, China
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Li, Cheng
  
05 feb 2025
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Pubblicato online: 05 feb 2025
Ricevuto: 23 ago 2024
Accettato: 19 dic 2024
DOI: https://doi.org/10.2478/amns-2025-0063
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© 2025 Nenghui Jiang et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.

Figure 1.

Two degrees of freedom vehicle dynamics model
Two degrees of freedom vehicle dynamics model

Figure 2.

Schematic diagram of vehicle tracking error model
Schematic diagram of vehicle tracking error model

Figure 3.

The calculation flowchart of intelligent car path planning
The calculation flowchart of intelligent car path planning

Figure 4.

Simulation results of obstacle avoidance under straight road conditions
Simulation results of obstacle avoidance under straight road conditions

Figure 5.

The optimal trajectory screening results of any curve road condition
The optimal trajectory screening results of any curve road condition

Figure 6.

Comparison of static obstacle avoidance results under linear conditionat 63 km/h
Comparison of static obstacle avoidance results under linear conditionat 63 km/h

Figure 7.

Comparison of static obstacle avoidance results under linear condition at 84 km/h
Comparison of static obstacle avoidance results under linear condition at 84 km/h

Figure 8.

The simulation results of the obstacle avoidance function in this article
The simulation results of the obstacle avoidance function in this article

Figure 9.

Simulation results of the traditional obstacle avoidance function
Simulation results of the traditional obstacle avoidance function
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