Method of designing optimal smooth way for vehicle

The representation of the digital map based on the uniform grids is discrete, and to satisfy the purpose of the path planning of the vehicle is to design the path which is smooth and least consumptive. The algorithm Field D* was introduced into the planning which realized the optimization in the cost of path, and then one way of smoothing was proposed which integrated the information of environment and applied to the path designed by the Field D* algorithm, and this method could make the path transit the breakpoint smoothly which satisfied the turning radius and least deviation from the designed path. Through the test of simulation in the raster digital map, this way could make the optimization in the field of smoothness, cost and max error compared with the path designed from the Field D* algorithm.