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This paper presents a local path planning method for high-speed autonomous vehicles on structured road.A set of candidate trajectories are generated based on three times hermite curvature polynomial after considering the actual dynamic characteristics of unmanned ground vehicle.To select the most appropriate trajectory between candidate paths, by using the VFH method to get the right direction, by considering the path safety cost, path smoothness, and path consistency, combined with high precision sensor, the vehicle can select the right direction and track the right trajectory.Simulation results show that the proposed combination of path planning algorithm gives satisfactory online obstacle avoidance performance.