重庆理工大学学报2026，Vol.40Issue(1)：70-77,8.DOI:10.3969/j.issn.1674-8425(z).2026.01.009
基于车辆换道超车路径规划改进人工势场法研究
Research on improving the artificial potential field method for vehicle lane-change overtaking path planning
摘要
Abstract
To address the issues caused by vehicle overtaking by changing lanes on urban roads,this paper proposes an improved artificial potential field(APF)method based on safety-oriented obstacle avoidance principles.The proposed intergrates considers the effects of the vehicle's longitudinal braking safety distance and the geometric size of obstacle vehicles into the repulsive potential field.The concept of elliptical repulsive fields is introduced,and a local virtual target point attraction mechanism is employed to modify and correct the path planning.The improved potential field model consists of the attraction potential field of the main lane centerline,the repulsive potential field of the lane boundary with steering channels,and the obstacle potential field,thereby enhancing the vehicle's adherence to standardized the main lane driving trajectory.By integrating this with model predictive control(MPC),a unified optimization framework for path planning and trajectory tracking is built.Co-simulation experiments are conducted using CarSim and Simulink.Results show,compared with the conventional artificial potential field method,the proposed approach reduces the vehicle's yaw angle by 10°,yaw rate by 20(°)/s,and front-wheel steering angle by 2°.Moreover,the maximum centroid side slip angle decreases from 3°to 1°.In addition,the vehicle's lateral acceleration decreased by approximately 0.3 m/s2 compared to the conventional method.This indicates that the improved artificial potential field method effectively enhances the vehicle's stability during obstacle avoidance and lane-changing overtaking,improves vehicle posture stability,and increases overall driving safety.关键词
人工势场法/避障路径规划/换道超车Key words
artificial potential field method/obstacle avoidance path planning/change lanes and overtake分类
信息技术与安全科学引用本文复制引用
孟潜,吕彩琴,程雨桥,芦保罗,续建勇..基于车辆换道超车路径规划改进人工势场法研究[J].重庆理工大学学报,2026,40(1):70-77,8.基金项目
国家自然科学基金项目(51275489) （51275489）
