According to the inherent nature of the fluid that can naturally avoid obstacles, a path planning method for active collision avoidance of autonomous vehicles is presented based on the virtual flow field. Firstly, the mathematical model of the virtual flow field on the road is established by using the theory of hydrodynamics. Then a fifth degree polynomial curve is adopted to construct the virtual hazard area of the obstacle vehicle to prevent the fluid into this area, and it can be easily resized by adjusting the parameters of the lateral and longitudinal safety distance. Finally, Computational Fluid Dynamics (CFD) simulations are performed to quantitative predict the dynamic behavior of the ego vehicle on the straight or curved road and the desired path for active collision avoidance can be determined based on the calculation result of the flow field. The simulation results show that the proposed path planning method takes into account the dynamic characteristics and kinematic constraints of the vehicle, and ensures that the vehicle doesn’t collide with the dynamic and static obstacles on the road.

根据流体可以自然避开障碍物的固有特性，提出了一种基于虚拟流场的自主车辆主动避碰路径规划方法。首先，利用流体动力学理论建立了道路虚拟流场的数学模型。然后采用五次多项式曲线构造障碍车辆的虚拟危险区域，防止流体进入该区域，通过调整横向和纵向安全距离参数可以方便地调整大小。最后，执行计算流体动力学 (CFD) 模拟以定量预测自车辆在直线或弯曲道路上的动态行为，并可以根据流场的计算结果确定主动避碰所需的路径。仿真结果表明，所提出的路径规划方法考虑了车辆的动力学特性和运动学约束，确保车辆不会与道路上的动静障碍物发生碰撞。