Obstacle Avoidance Threat Assessment and Trajectory Planning of Intelligent Vehicle
（Wuxi Vocational Institute of Commerce, Wuxi 214153）
In order to improve autonomous driving accuracy and rapidity of intelligent vehicle obstacle avoidance【Abstract】threat assessment, vehicle trajectory prediction based on vehicle status and driver’s intention was fused, in addition certainty and uncertainty factors were considered. Rapid- exploring random tree algorithm was improved from various ways based on two typical conditions including lane driving and intersection, target deviation strategy was introduced and node selection strategy was improved, then node deletion strategy and trajectory smoothing method were proposed. Simulation verification proves that the obstacle avoidance system can make vehicle avoid obstacles and ensure safe driving.
Key words: Intelligent vehicle, Threat assessment, Trajectory prediction, Trajectory planning, Improved rapid-exploring random tree algorithm