张建 贡益 明商飞
（江苏航空职业技术学院，江苏 镇江 212134）
摘要：当前自动驾驶车辆的研究主要集中在结构化道路场景，当车辆需要在无道路的山地环境中越野行驶时，需自主规划可行路径。本文提出一种改进的A*算法，用于实现车辆在无道路山地条件下的自主全局路径规划。该算法重点考虑车辆的通过能力，减少车辆上下坡过程并避开路面崎岖位置，以提升车辆行驶平顺性。仿真测试结果表明，该算法能够在复杂地形中有效规划出平稳的全局路径。
关键词：A*算法；路径规划；越野场景；非结构化道路
中图分类号：TP301.6 文献标志码： 文章编号：1674-2605(2026)03-0001-07
DOI：10.12475/aie.20260301 开放获取
Autonomous Vehicle Off-road Global Path Planning Algorithm
ZHANG Jian GONG Yiming SHANG Fei
（Jiangsu Aviation Technical College, Zhenjiang 212134, China）
Abstract: Current research on autonomous vehicles predominantly focuses on scenarios with structured roads. When vehicles needs to drive off-road in roadless mountainous areas, autonomous feasible path planning becomes indispensable. This paper proposes an improved A* algorithm to realize autonomous global path planning for vehicles in roadless mountainous environments. The proposed algorithm prioritizes the trafficability of the vehicle, reduces uphill and downhill driving sections, and avoids the rough position on the terrain to enhance driving smoothness. Finally, simulation experiments verify the performance of the algorithm, which can generate smooth global paths in complex terrain.
Keywords: A* algorithm; path planning; off-road scenario; unstructured road
