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Active Obstacle Avoidance Path Planning for Intelligent Vehicles Using an Optimized Artificial Potential Field Method
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Gang Zhou, Jian Wang, Hongxiang Wang, Ruofei Du, Huan Deng, Jinbo Wang
Automotive Engineer | 2026, (2) : 15 - 20
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Automotive Engineer | 2026, (2): 15-20
Active Obstacle Avoidance Path Planning for Intelligent Vehicles Using an Optimized Artificial Potential Field Method
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Gang Zhou, Jian Wang, Hongxiang Wang, Ruofei Du, Huan Deng, Jinbo Wang
Affiliations
  • Shandong Jiaotong University, Jinan 250357
Published: 2026-02-15 doi: 10.20104/j.cnki.1674-6546.20250214
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Path planning is a critical component in autonomous vehicle research, among which the Artificial Potential Field (APF) method has attracted significant attention due to its simplicity and efficiency. However, it also suffers from issues such as local minima, failure to reach the target and insufficient safety. This paper proposes optimizations to the APF method to address these limitations. Firstly, an elliptical repulsive potential field for obstacles is designed to mitigate collision risks when avoiding irregularly shaped obstacles. Secondly, a road boundary repulsive potential field is introduced to ensure strict adherence to traffic rules during vehicle operation. Thirdly, a velocity repulsive potential field is established to prevent collisions with moving obstacles. Fourthly, virtual target points are designed to help the vehicle escape local minima. Finally, these repulsive fields are integrated into a new unified formulation, facilitating the planning of paths consistent with structured road environments. After path planning, the generated path is smoothed using B-spline curve fitting. Validation results demonstrate that the optimized APF method produces safer, shorter and more realistic paths that bet.

Path planning  /  Artificial Potential Field (APF)  /  Virtual target point  /  B-spline curve
周钢, 王健, 王鸿祥, 杜若飞, 邓欢, 王金波. 基于优化人工势场法的智能汽车主动避障路径规划. 汽车工程师, 2026 , (2) : 15 -20 . DOI: 10.20104/j.cnki.1674-6546.20250214
Gang Zhou, Jian Wang, Hongxiang Wang, Ruofei Du, Huan Deng, Jinbo Wang. Active Obstacle Avoidance Path Planning for Intelligent Vehicles Using an Optimized Artificial Potential Field Method[J]. Automotive Engineer, 2026 , (2) : 15 -20 . DOI: 10.20104/j.cnki.1674-6546.20250214
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Year 2026 volume Issue 2
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Article Info
doi: 10.20104/j.cnki.1674-6546.20250214
  • Online Date：2026-09-20
  • Published：2026-02-15
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  • Revised：2025-10-26
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    Shandong Jiaotong University, Jinan 250357
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多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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