APF를 이용한 차량 충돌 회피 경로 계획 및 추종제어

Abstract

This paper proposes collision avoidance path planning based on Artificial Potential Field(APF) in dynamic driving environment. Repulsive potential fields constructed by using obstacle information and attractive potential fields based on road information are used in the proposed approach. Through this approach, a collision avoidance path is configured, considering the changes in the gradient descent of potential field; this potential field should be based on the surrounding information. The stanley method is used for planned collision avoidance in path following. Dynamic driving environment is constructed with the application of emergency braking and cut-in of the target vehicle. Also, the validity of the proposed APF collision avoidance path planning has been verified, using CarSim and MATLAB / Simulink.