基于优化人工势场法的智能汽车主动避障路径规划

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中图分类号：U461.91 文献标志码：A DOI：10.20104/j.cnki.1674-6546.20250214

Active Obstacle Avoidance Path Planning for Intelligent Vehicles Using anOptimized Artificial Potential FieldMethod

ZhouGang，WangJian，WangHongxiang，DuRuofei，DengHuan，WangJinbo （Shandong Jiaotong University， Jinan 250357）

【Abstract】Path planning isa critical component inautonomous vehicle research，among which the ArtificialPotential Field（APF）metodhasaractedsignificantatentionduetoitssimplicityandefiiency.However，italsosuffrsfroissues suchaslocalminima，filuretoreachthetargetandinsuficientsafety.ThispaperproposesoptimizationstotheAPFmethodto addresstheselimitations.Firstly，anellpticalrepulsivepotentialfieldforobstaclesisdesignedtomitigatecolisionrskswhen avoiding irrgularlyshapedobstacles.Secondly，aroad boundaryrepulsivepotentialfieldisintroduced toensurestrict adherence totraffcrulesduring vehicleoperation.Thirdly，avelocityrepulsive potential fieldis establishedtoprevent collsions withmovingobstacles.Fourthlyvirtualtargetpointsaredesignedtohelphevehicleescapelocalminima.Finally theserepulsivefieldsareintegratedintoanewunifiedformulation，facilitatingtheplanningofpathsconsistentwithstructured road environments.Afterpath planning，thegenerated path issmoothedusing B-spline curve fiting.Validationresults demonstrate that the optimized APF method produces safer，shorter and more realistic paths that bet.

KeyWords： Path planning，Artificial PotentialField （APF），Virtual target point，B-spline curve 【引用格式】周钢，王健，王鸿祥，等.基于优化人工势场法的智能汽车主动避障路径规划[J].汽车工程师，2026（2）： 15-20. ZHOU G， WANG J， WANG HX，et al. Active Obstacle Avoidance Path Planning for Intelligent Vehicles Using an Optimized Artificial Potential Field Method[J].Automotive Engineer，2026（2）：15-20.

1前言

路径规划的任务是在复杂的动态环境中为车辆实时生成一条从起始点到目标点，同时满足无碰撞、平滑且符合车辆动力学约束的可行轨迹。（剩余6966字）