Virtual Force Vector Control Method of Intelligent Vehicle Path Planning

Path planning is a hot topic in the field of intelligent vehicle research. In order to overcome the local minimum point problem and the target point inaccessibility problem in the traditional artificial potential field path planning method, an intelligent vehicle path planning method based on virtual force vector control is proposed. The action area of the obstacle potential field is optimized into an elliptical area, and the road boundary repulsion potential field is increased. Then the calculation formulas of the virtual force gravitational vector and the virtual force repulsion vector are derived by applying the artificial potential field theory. In addition, the virtual force vector control strategy and intelligent vehicle path planning method are designed by controlling the virtual gravity and virtual repulsion in the vertical direction, to avoid the virtual resultant force being zero. The performance of intelligent vehicle path planning method is simulated under three typical scenarios. The results show that the virtual force vector control strategy proposed in this paper can effectively avoid the intelligent vehicle falling into the local minimum point, and the comprehensive performance of path planning is better than the traditional artificial potential field method.