Research on path planning strategies for intelligent vehicles

For the planning rationality of intelligent vehicle path planning and trajectory tracking, driving stability, In this paper, the traditional TEB (Timed-Elastic-Band) algorithm is used to plan the initial trajectory based on the desired trajectory, which satisfies the kinetic constraints of intelligent vehicles, has a better time and avoids dynamic obstacles, and the speed jitter caused by excessive acceleration and the front wheel angle jump caused by insufficient lateral sway angle constraints. By improving the traditional TEB algorithm, the secondary planning is carried out on the planned trajectory in the lateral and longitudinal directions to make the obtained trajectory smoother and more reasonable, and the local path planner design is completed. The effectiveness of the method is further verified by the simulation platform of Carsim/Simulink. The results show that the proposed method can ensure the rationality of trajectory planning and driving stability.