Path Planning Design for Vehicle Driving Assist Systems

摘要

In recent years, brand new vehicles equipped with muti-driving assist systems have been more and more popular. As a result, we propose a path planning design for muti-vehicle driving assist systems that enable vehicle adjust speed and traveling direction according to different road sections by itself. The overall system can be divided into two layers, one is decision layer and the other is control layer. In decision layer, reference route which built by high accuracy real time kinematic differential positioning system is necessary. Then, reference route would be separated into bending and straight sections. After that, desired speed and steering angle can be obtained by kinematics equations and position node of reference route. In control layer, actuators, such as throttle, braking paddle, and steering wheel, are driven by fuzzy logic controller to reach desired speed and steering angle from decision layer. The overall system is implemented on an electric golf car which as a testing platform. The experimental results show that the proposed system integrates kinematic and human experience to fulfill above functions.