| PATH PLANNING FOR VEHICLE ACTIVE COLLISION AVOIDANCE
BASED ON VIRTUAL FLOW FIELD |
Jian Liu1
, Jie Ji1
, Yue Ren1, Yanjun Huang2, Hong Wang3 |
1Southwest University
2Tongji University
3Tsinghua University |
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| ABSTRACT |
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According to the inherent nature of the fluid that can naturally avoid obstacles, a path planning method for active
collision avoidance of autonomous vehicles is presented based on the virtual flow field. Firstly, the mathematical model of the
virtual flow field on the road is established by using the theory of hydrodynamics. Then a fifth degree polynomial curve is
adopted to construct the virtual hazard area of the obstacle vehicle to prevent the fluid into this area, and it can be easily resized
by adjusting the parameters of the lateral and longitudinal safety distance. Finally, Computational Fluid Dynamics (CFD)
simulations are performed to quantitative predict the dynamic behavior of the ego vehicle on the straight or curved road and
the desired path for active collision avoidance can be determined based on the calculation result of the flow field. The simulation
results show that the proposed path planning method takes into account the dynamic characteristics and kinematic constraints
of the vehicle, and ensures that the vehicle doesn’t collide with the dynamic and static obstacles on the road. |
| Key Words:
Virtual flow field, Collision avoidance, Computational fluid dynamics, Path planning, Autonomous vehicle |
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Corresponding Author.
Jie Ji , Email. 
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