Two potential fields fused adaptive path planning system for autonomous vehicle under different velocities

Velocity Obstacle-Based Collision Avoidance and Motion Planning Framework for Connected and Automated Vehicles

“…As shown in Figure 2 c , translating RCC by V B obtains the region called “absolute collision cone” (ACC), (green sector area in Figure 2 c ), which formulates a set of V A that collision between the above two vehicles will happen in the future if V A falls into the ACC region ( 9 ). The set is named VO B A ( bold-italicV bold-italicB ) , that is:…”

“…The object vehicle will collide with the obstacle vehicle at some future point of the detection time if the object vehicle does not adjust its velocity. Therefore, accurate determination of the potential collision area is the key to detecting the collision risk and adjusting the vehicle’s velocity to avoid collision ( 9 ). Initially, the collision area is defined as the body range of the vehicle, and the object vehicle will collide with the obstacle vehicle if their relative velocity points to any point of the obstacle vehicle ( 16 , 17 ).…”

“…The development of connected and automated vehicles (CAV) technology provides technical support for collision avoidance (3)(4)(5). An alternative approach to collision avoidance between moving vehicles is based on the velocity obstacle (VO) representation, which was first proposed by Fiorini and Shiller for vehicle crash mitigation, and is commonly implemented in autonomous vehicles, unmanned surface vehicles, unmanned aerial vehicles, and mobile robots (6)(7)(8)(9)(10)(11)(12)(13)(14)(15). One distinct benefit of the VO method is that it can map maneuvering constraints imposed by a (moving) obstacle onto the complete maneuver space of a vehicle, making it an ideal candidate for both conflict detection and resolution.…”

Model Predictive Path-Planning Controller With Potential Function for Emergency Collision Avoidance on Highway Driving

“…Currently, research is progressing in two main directions. One concerns the use of PFs as a hazard evaluation assessment or penalty term to reduce the potential risk of crashing with other vehicles [8]- [10], and the other involves the use of PFs as part of a path-planning algorithm to generate paths along the gradient descent directly while maintaining fast computation [11], [13], [14].…”

“…However, this cannot ensure safety when the PFs require a large gradient angle to avoid a sudden obstacle. In a recent study [14], two potential fields contained a novel potential velocity field to denote the longitudinal and lateral accelerations of the surrounding vehicles. However, traffic emergencies like emergency braking and lane change of surrounding vehicles were not considered in this study.…”