A Path Planning Method for Autonomous Vehicles Based on Risk Assessment

In order to meet the requirements of vehicle automatic obstacle avoidance, a lane change trajectory planning method is proposed to meet the requirements of safety, comfort, and lane change efficiency. Firstly, the potential collision points that may exist are analyzed using information about surroun...
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Autor*in:	Wei Yang [verfasserIn] Cong Li [verfasserIn] Yipeng Zhou [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	autonomous vehicles obstacle avoidance path planning risk assessment potential collision points

Übergeordnetes Werk:	In: World Electric Vehicle Journal - MDPI AG, 2018, 13(2022), 12, p 234
Übergeordnetes Werk:	volume:13 ; year:2022 ; number:12, p 234

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/wevj13120234

Katalog-ID:	DOAJ082952272

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520			\|a In order to meet the requirements of vehicle automatic obstacle avoidance, a lane change trajectory planning method is proposed to meet the requirements of safety, comfort, and lane change efficiency. Firstly, the potential collision points that may exist are analyzed using information about surrounding vehicle movement and the road. Then, the safe lane change range for vehicles is obtained. Secondly, the control points of the fifth order Bézier curve are constrained to generate a series of path clusters in the optimal range. At the same time, the driver’s style and reaction time are taken into account in the risk assessment stage of the route using the improved artificial potential field method. Finally, the optimal path is selected by comprehensively considering lane-changing efficiency and comfort. In order to further verify the accuracy of the algorithm, real-vehicle experiments have been carried out on the autonomous vehicle platform. Under different driving styles, the vehicle can avoid obstacles perfectly while ensuring the smoothness of the path. Simulation and real-vehicle experiment results show that the proposed algorithm can provide an excellent solution for autonomous vehicles for lane changing and obstacle avoidance.
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allfields	10.3390/wevj13120234 doi (DE-627)DOAJ082952272 (DE-599)DOAJ022b022a05814d3799b4a7d7c6920a8a DE-627 ger DE-627 rakwb eng TK1-9971 TA1001-1280 Wei Yang verfasserin aut A Path Planning Method for Autonomous Vehicles Based on Risk Assessment 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In order to meet the requirements of vehicle automatic obstacle avoidance, a lane change trajectory planning method is proposed to meet the requirements of safety, comfort, and lane change efficiency. Firstly, the potential collision points that may exist are analyzed using information about surrounding vehicle movement and the road. Then, the safe lane change range for vehicles is obtained. Secondly, the control points of the fifth order Bézier curve are constrained to generate a series of path clusters in the optimal range. At the same time, the driver’s style and reaction time are taken into account in the risk assessment stage of the route using the improved artificial potential field method. Finally, the optimal path is selected by comprehensively considering lane-changing efficiency and comfort. In order to further verify the accuracy of the algorithm, real-vehicle experiments have been carried out on the autonomous vehicle platform. Under different driving styles, the vehicle can avoid obstacles perfectly while ensuring the smoothness of the path. Simulation and real-vehicle experiment results show that the proposed algorithm can provide an excellent solution for autonomous vehicles for lane changing and obstacle avoidance. autonomous vehicles obstacle avoidance path planning risk assessment potential collision points Electrical engineering. Electronics. Nuclear engineering Transportation engineering Cong Li verfasserin aut Yipeng Zhou verfasserin aut In World Electric Vehicle Journal MDPI AG, 2018 13(2022), 12, p 234 (DE-627)1025566866 20326653 nnns volume:13 year:2022 number:12, p 234 https://doi.org/10.3390/wevj13120234 kostenfrei https://doaj.org/article/022b022a05814d3799b4a7d7c6920a8a kostenfrei https://www.mdpi.com/2032-6653/13/12/234 kostenfrei https://doaj.org/toc/2032-6653 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 2022 12, p 234
spelling	10.3390/wevj13120234 doi (DE-627)DOAJ082952272 (DE-599)DOAJ022b022a05814d3799b4a7d7c6920a8a DE-627 ger DE-627 rakwb eng TK1-9971 TA1001-1280 Wei Yang verfasserin aut A Path Planning Method for Autonomous Vehicles Based on Risk Assessment 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In order to meet the requirements of vehicle automatic obstacle avoidance, a lane change trajectory planning method is proposed to meet the requirements of safety, comfort, and lane change efficiency. Firstly, the potential collision points that may exist are analyzed using information about surrounding vehicle movement and the road. Then, the safe lane change range for vehicles is obtained. Secondly, the control points of the fifth order Bézier curve are constrained to generate a series of path clusters in the optimal range. At the same time, the driver’s style and reaction time are taken into account in the risk assessment stage of the route using the improved artificial potential field method. Finally, the optimal path is selected by comprehensively considering lane-changing efficiency and comfort. In order to further verify the accuracy of the algorithm, real-vehicle experiments have been carried out on the autonomous vehicle platform. Under different driving styles, the vehicle can avoid obstacles perfectly while ensuring the smoothness of the path. Simulation and real-vehicle experiment results show that the proposed algorithm can provide an excellent solution for autonomous vehicles for lane changing and obstacle avoidance. autonomous vehicles obstacle avoidance path planning risk assessment potential collision points Electrical engineering. Electronics. Nuclear engineering Transportation engineering Cong Li verfasserin aut Yipeng Zhou verfasserin aut In World Electric Vehicle Journal MDPI AG, 2018 13(2022), 12, p 234 (DE-627)1025566866 20326653 nnns volume:13 year:2022 number:12, p 234 https://doi.org/10.3390/wevj13120234 kostenfrei https://doaj.org/article/022b022a05814d3799b4a7d7c6920a8a kostenfrei https://www.mdpi.com/2032-6653/13/12/234 kostenfrei https://doaj.org/toc/2032-6653 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 2022 12, p 234
allfields_unstemmed	10.3390/wevj13120234 doi (DE-627)DOAJ082952272 (DE-599)DOAJ022b022a05814d3799b4a7d7c6920a8a DE-627 ger DE-627 rakwb eng TK1-9971 TA1001-1280 Wei Yang verfasserin aut A Path Planning Method for Autonomous Vehicles Based on Risk Assessment 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In order to meet the requirements of vehicle automatic obstacle avoidance, a lane change trajectory planning method is proposed to meet the requirements of safety, comfort, and lane change efficiency. Firstly, the potential collision points that may exist are analyzed using information about surrounding vehicle movement and the road. Then, the safe lane change range for vehicles is obtained. Secondly, the control points of the fifth order Bézier curve are constrained to generate a series of path clusters in the optimal range. At the same time, the driver’s style and reaction time are taken into account in the risk assessment stage of the route using the improved artificial potential field method. Finally, the optimal path is selected by comprehensively considering lane-changing efficiency and comfort. In order to further verify the accuracy of the algorithm, real-vehicle experiments have been carried out on the autonomous vehicle platform. Under different driving styles, the vehicle can avoid obstacles perfectly while ensuring the smoothness of the path. Simulation and real-vehicle experiment results show that the proposed algorithm can provide an excellent solution for autonomous vehicles for lane changing and obstacle avoidance. autonomous vehicles obstacle avoidance path planning risk assessment potential collision points Electrical engineering. Electronics. Nuclear engineering Transportation engineering Cong Li verfasserin aut Yipeng Zhou verfasserin aut In World Electric Vehicle Journal MDPI AG, 2018 13(2022), 12, p 234 (DE-627)1025566866 20326653 nnns volume:13 year:2022 number:12, p 234 https://doi.org/10.3390/wevj13120234 kostenfrei https://doaj.org/article/022b022a05814d3799b4a7d7c6920a8a kostenfrei https://www.mdpi.com/2032-6653/13/12/234 kostenfrei https://doaj.org/toc/2032-6653 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 2022 12, p 234
allfieldsGer	10.3390/wevj13120234 doi (DE-627)DOAJ082952272 (DE-599)DOAJ022b022a05814d3799b4a7d7c6920a8a DE-627 ger DE-627 rakwb eng TK1-9971 TA1001-1280 Wei Yang verfasserin aut A Path Planning Method for Autonomous Vehicles Based on Risk Assessment 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In order to meet the requirements of vehicle automatic obstacle avoidance, a lane change trajectory planning method is proposed to meet the requirements of safety, comfort, and lane change efficiency. Firstly, the potential collision points that may exist are analyzed using information about surrounding vehicle movement and the road. Then, the safe lane change range for vehicles is obtained. Secondly, the control points of the fifth order Bézier curve are constrained to generate a series of path clusters in the optimal range. At the same time, the driver’s style and reaction time are taken into account in the risk assessment stage of the route using the improved artificial potential field method. Finally, the optimal path is selected by comprehensively considering lane-changing efficiency and comfort. In order to further verify the accuracy of the algorithm, real-vehicle experiments have been carried out on the autonomous vehicle platform. Under different driving styles, the vehicle can avoid obstacles perfectly while ensuring the smoothness of the path. Simulation and real-vehicle experiment results show that the proposed algorithm can provide an excellent solution for autonomous vehicles for lane changing and obstacle avoidance. autonomous vehicles obstacle avoidance path planning risk assessment potential collision points Electrical engineering. Electronics. Nuclear engineering Transportation engineering Cong Li verfasserin aut Yipeng Zhou verfasserin aut In World Electric Vehicle Journal MDPI AG, 2018 13(2022), 12, p 234 (DE-627)1025566866 20326653 nnns volume:13 year:2022 number:12, p 234 https://doi.org/10.3390/wevj13120234 kostenfrei https://doaj.org/article/022b022a05814d3799b4a7d7c6920a8a kostenfrei https://www.mdpi.com/2032-6653/13/12/234 kostenfrei https://doaj.org/toc/2032-6653 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 2022 12, p 234
allfieldsSound	10.3390/wevj13120234 doi (DE-627)DOAJ082952272 (DE-599)DOAJ022b022a05814d3799b4a7d7c6920a8a DE-627 ger DE-627 rakwb eng TK1-9971 TA1001-1280 Wei Yang verfasserin aut A Path Planning Method for Autonomous Vehicles Based on Risk Assessment 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In order to meet the requirements of vehicle automatic obstacle avoidance, a lane change trajectory planning method is proposed to meet the requirements of safety, comfort, and lane change efficiency. Firstly, the potential collision points that may exist are analyzed using information about surrounding vehicle movement and the road. Then, the safe lane change range for vehicles is obtained. Secondly, the control points of the fifth order Bézier curve are constrained to generate a series of path clusters in the optimal range. At the same time, the driver’s style and reaction time are taken into account in the risk assessment stage of the route using the improved artificial potential field method. Finally, the optimal path is selected by comprehensively considering lane-changing efficiency and comfort. In order to further verify the accuracy of the algorithm, real-vehicle experiments have been carried out on the autonomous vehicle platform. Under different driving styles, the vehicle can avoid obstacles perfectly while ensuring the smoothness of the path. Simulation and real-vehicle experiment results show that the proposed algorithm can provide an excellent solution for autonomous vehicles for lane changing and obstacle avoidance. autonomous vehicles obstacle avoidance path planning risk assessment potential collision points Electrical engineering. Electronics. Nuclear engineering Transportation engineering Cong Li verfasserin aut Yipeng Zhou verfasserin aut In World Electric Vehicle Journal MDPI AG, 2018 13(2022), 12, p 234 (DE-627)1025566866 20326653 nnns volume:13 year:2022 number:12, p 234 https://doi.org/10.3390/wevj13120234 kostenfrei https://doaj.org/article/022b022a05814d3799b4a7d7c6920a8a kostenfrei https://www.mdpi.com/2032-6653/13/12/234 kostenfrei https://doaj.org/toc/2032-6653 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 13 2022 12, p 234
language	English
source	In World Electric Vehicle Journal 13(2022), 12, p 234 volume:13 year:2022 number:12, p 234
sourceStr	In World Electric Vehicle Journal 13(2022), 12, p 234 volume:13 year:2022 number:12, p 234
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	autonomous vehicles obstacle avoidance path planning risk assessment potential collision points Electrical engineering. Electronics. Nuclear engineering Transportation engineering
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container_title	World Electric Vehicle Journal
authorswithroles_txt_mv	Wei Yang @@aut@@ Cong Li @@aut@@ Yipeng Zhou @@aut@@
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callnumber-first	T - Technology
author	Wei Yang
spellingShingle	Wei Yang misc TK1-9971 misc TA1001-1280 misc autonomous vehicles misc obstacle avoidance misc path planning misc risk assessment misc potential collision points misc Electrical engineering. Electronics. Nuclear engineering misc Transportation engineering A Path Planning Method for Autonomous Vehicles Based on Risk Assessment
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topic_title	TK1-9971 TA1001-1280 A Path Planning Method for Autonomous Vehicles Based on Risk Assessment autonomous vehicles obstacle avoidance path planning risk assessment potential collision points
topic	misc TK1-9971 misc TA1001-1280 misc autonomous vehicles misc obstacle avoidance misc path planning misc risk assessment misc potential collision points misc Electrical engineering. Electronics. Nuclear engineering misc Transportation engineering
topic_unstemmed	misc TK1-9971 misc TA1001-1280 misc autonomous vehicles misc obstacle avoidance misc path planning misc risk assessment misc potential collision points misc Electrical engineering. Electronics. Nuclear engineering misc Transportation engineering
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title	A Path Planning Method for Autonomous Vehicles Based on Risk Assessment
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title_auth	A Path Planning Method for Autonomous Vehicles Based on Risk Assessment
abstract	In order to meet the requirements of vehicle automatic obstacle avoidance, a lane change trajectory planning method is proposed to meet the requirements of safety, comfort, and lane change efficiency. Firstly, the potential collision points that may exist are analyzed using information about surrounding vehicle movement and the road. Then, the safe lane change range for vehicles is obtained. Secondly, the control points of the fifth order Bézier curve are constrained to generate a series of path clusters in the optimal range. At the same time, the driver’s style and reaction time are taken into account in the risk assessment stage of the route using the improved artificial potential field method. Finally, the optimal path is selected by comprehensively considering lane-changing efficiency and comfort. In order to further verify the accuracy of the algorithm, real-vehicle experiments have been carried out on the autonomous vehicle platform. Under different driving styles, the vehicle can avoid obstacles perfectly while ensuring the smoothness of the path. Simulation and real-vehicle experiment results show that the proposed algorithm can provide an excellent solution for autonomous vehicles for lane changing and obstacle avoidance.
abstractGer	In order to meet the requirements of vehicle automatic obstacle avoidance, a lane change trajectory planning method is proposed to meet the requirements of safety, comfort, and lane change efficiency. Firstly, the potential collision points that may exist are analyzed using information about surrounding vehicle movement and the road. Then, the safe lane change range for vehicles is obtained. Secondly, the control points of the fifth order Bézier curve are constrained to generate a series of path clusters in the optimal range. At the same time, the driver’s style and reaction time are taken into account in the risk assessment stage of the route using the improved artificial potential field method. Finally, the optimal path is selected by comprehensively considering lane-changing efficiency and comfort. In order to further verify the accuracy of the algorithm, real-vehicle experiments have been carried out on the autonomous vehicle platform. Under different driving styles, the vehicle can avoid obstacles perfectly while ensuring the smoothness of the path. Simulation and real-vehicle experiment results show that the proposed algorithm can provide an excellent solution for autonomous vehicles for lane changing and obstacle avoidance.
abstract_unstemmed	In order to meet the requirements of vehicle automatic obstacle avoidance, a lane change trajectory planning method is proposed to meet the requirements of safety, comfort, and lane change efficiency. Firstly, the potential collision points that may exist are analyzed using information about surrounding vehicle movement and the road. Then, the safe lane change range for vehicles is obtained. Secondly, the control points of the fifth order Bézier curve are constrained to generate a series of path clusters in the optimal range. At the same time, the driver’s style and reaction time are taken into account in the risk assessment stage of the route using the improved artificial potential field method. Finally, the optimal path is selected by comprehensively considering lane-changing efficiency and comfort. In order to further verify the accuracy of the algorithm, real-vehicle experiments have been carried out on the autonomous vehicle platform. Under different driving styles, the vehicle can avoid obstacles perfectly while ensuring the smoothness of the path. Simulation and real-vehicle experiment results show that the proposed algorithm can provide an excellent solution for autonomous vehicles for lane changing and obstacle avoidance.
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title_short	A Path Planning Method for Autonomous Vehicles Based on Risk Assessment
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