沈阳大学学报（自然科学版）2026，Vol.38Issue(4)：333-343,11.
基于动态势场的MPC局部路径规划
MPC Local Path Planning Based on Dynamic Potential Field
摘要
Abstract
To improve the safety of lane-changing obstacle avoidance for vehicdes in dynamic road environments,a model predictive control(MPC)local path planning method integrated with a dynamic potential field was proposed.A vehicle point-mass model was selected,and potential fields for the road and obstacle vehicles were designed.A pseudo-distance was constructed by introducing a reduction coefficient,enabling the obstacle vehicle potential field to adjust dynamically with the speed between the controlled vehicle and the obstacle vehicle.The Frenet coordinate transformation was employed to adapt the potential field model to curved roads.Based on the potential field model,the MPC obstacle avoidance cost function was reconstructed,and co-simulation was conducted by combining it with MPC path tracking.Simulation results demonstrated that the improved MPC local path planning could adjust obstacle avoidance spacing according to vehicle speed,significantly reducing collision risk.The controlled vehicle also maintained more stable lane-center driving,thereby enhancing the safety and reliability of path planning in dynamic road environments.关键词
模型预测控制/动态道路环境/势场模型/换道避障/路径规划/路径跟踪Key words
model predictive control/dynamic road environment/potential field model/lane-changing obstacle avoidance/path planning/path tracking分类
交通工程引用本文复制引用
李宏刚,李晗,李胜琴,逯兆友,孙锦军..基于动态势场的MPC局部路径规划[J].沈阳大学学报（自然科学版）,2026,38(4):333-343,11.基金项目
黑龙江省重点研发计划项目(JD22A014). （JD22A014）
