Title: Path planning method of automatic driving for directional navigation based on particle swarm optimisation

Authors: Xian Luo; Rongtao Liao; Huanjun Hu; Yuxuan Ye

Addresses: Information & Communication Branch of Hubei EPC, Wuhan University, Wuhan, Hubei, China ' Information & Communication Branch of Hubei EPC, Huazhong University of Science and Technology, Wuhan, Hubei, China ' Information & Communication Branch of Hubei EPC, Central China Normal University, Wuhan, Hubei, China ' Information & Communication Branch of Hubei EPC, Wuhan University, Wuhan, Hubei, China

Abstract: In order to overcome the poor planning efficiency of the automatic driving trajectory planning method for directional navigation, a Particle Swarm Optimisation (PSO) based trajectory planning method is proposed. The kinematic characteristics of the vehicle are analysed and the vehicle dynamic equation is constructed. The position coordinates, speed and other motion parameters of the directional navigation vehicle are transformed into a Frenet coordinate system. The trajectory quality evaluation model of automatic driving vehicle for directional navigation is constructed. The trajectory quality evaluation index is taken as the constraint, and each variable is iteratively optimised by particle swarm optimisation algorithm, so as to effectively realise the trajectory planning of automatic driving of directional navigation. Simulation results show that the proposed method can effectively improve the efficiency of autopilot trajectory planning and enhance the safety of the whole method.

Keywords: particle swarm optimisation; directional navigation; automatic driving; path planning.

DOI: 10.1504/IJVICS.2022.127413

International Journal of Vehicle Information and Communication Systems, 2022 Vol.7 No.3, pp.259 - 276

Received: 25 Sep 2020
Accepted: 20 Jan 2021
Published online: 05 Dec 2022 *

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