Adaptive Dynamic Path Planning Method for Autonomous Vehicle Under Various Road Friction and Speeds

Path planning is a crucial technology for autonomous vehicle (AV). However, it is difficult to adapt to dynamic driving environment, and AV may lose lateral dynamic stability due to high speed and various friction. This paper presents an adaptive dynamic path planning method (ADPPM) for AV to address the challenges. The ADPPM is comprised of three components: 1) A dynamic state-fused steering decision method based on a hierarchical fuzzy inference system is designed to calculate the steering position of AV in each iteration step, and the method fuses the multi-state of the dynamic environment; 2) dynamic path optimization method is designed to reduce the mean curvature of the path based on the particle swarm optimization method, which improves the lateral dynamics stability of AV; 3) adaptive speed inference method is proposed to provide desired steering speed for AV according to various road friction and reduce AV's steering burden. The ADPPM provides path planning in the dynamic environment, and it also improves the stability of AV under various road friction and speeds. Finally, the proposed method is verified by CarSim.