Path Planning and Tracking Strategy under Emergency for Vehicle Obstacle Avoidance System

In this paper, we propose a strategy to solve the problems of obstacle in path planning and tracking for automated vehicles. First, an improved ant colony algorithm considering vehicle parameters and stability is introduced for path planning with obstacle avoidance environment. Second, PID method is improved for vehicle path tracking by introducing motion control containing steering control and speed control. Moreover, some cooperative braking control strategies based on fuzzy PID are added into the motion control to enhance path tracking and handing performance under emergency obstacle avoidance. Simulation results show that the proposed ant colony algorithm can be used to plan the collision-free path and the fuzzy PID motion controller work well in both speed and path following and has a better stability of rollover under emergency.