Plane path planning and driving behavior control based on obstacle avoidance and driving safety

Path planning plays an important role in unmanned driving. At present, most of the existing path planning is based on the orderly road with lanes, but few people research on the path planning based on plane driving. In this paper, aiming at the plane based unmanned driving, a new function is designed in “celestial potential field method” and it is used for the plane unmanned driving path planning by referring to the artificial potential field method and the universal gravitation formula. Furthermore a “speed decision system” based on safety considerations is designed for the dynamic path planning and driving behavior control when dynamic vehicles or other obstacles are appear around. Finally, the static, dynamic and mixed obstacle road conditions are simulated and the results shows that it can avoid obstacle well by pro-planning. Also it can keep driving safety by controlling the driving behavior(angle and acceleration).