Automatic Driving Path Planning And Tracking Control Based On Improved Artificial Potential Field

The technological innovation brought about by the transformation and upgrading of the automotive industry is the fundamental driving force for continuously promoting the green and intelligent development of automobile technology.Autopilot technology is one of the hot technologies and has become the consensus of the industry.Autopilot technology is the trend and ultimate goal of the development of automotive intelligence.Self-driving cars have evolved into intelligent robots from a certain sense,which has the advantages of good safety,excellent economy,good comfort and low resource occupation,and is conducive to the development of intelligent transportation.Therefore,the automatic driving technology has a broad Development prospects.The content of this paper is to improve the traditional path planning algorithm and path tracking control method in order to improve the safety of autonomous driving vehicle path planning.The main contents are as follows:(1)Combining the path planning and tracking control to make a reasonable assumption on the vehicle model,the vehicle model,the motor model and the tire model for the four-degree-of-freedom vehicle established for the two-wheel-drive electric vehicle lay the foundation for the following.(2)Contrasting and analyzing the problems existing in the traditional artificial potential field,referring to the traditional artificial potential field in the local path planning of the robot,applied to the road vehicle routing planning field,considering the changing trend of the vehicle driving road,the boundary range and the obstacle moving attribute and other factors.The artificial potential field algorithm is improved,and the simulation analysis shows that the improved artificial potential field can plan the steering obstacle avoidance path in line with the road field.(3)Control the tracking of the vehicle trajectory.The path tracking is divided into two parts: vehicle lateral tracking control based on MPC control and vehicle longitudinal speed tracking control based on PID control.The path tracking controller based on the model prediction algorithm is established to realize the lateral tracking control.The path tracking is realized by controlling the front wheel rotation to track the desired trajectory.On the longitudinal speed tracking,the PID controller continuously changes the opening of the pedal according to the speed difference.The motor obtains the required torque in combination with the pedal opening degree and the real-time speed,and performs deceleration and acceleration control.(4)The longitudinal velocity tracking controller and the lateral motion tracking controller are verified in MATLAB/Simulink.The simulation results show that the improved planning algorithm and path tracking control method can well plan and track the path.