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Firstly, based on the B-spline algorithm and four-stage lane-changing theory, an obstacle avoidance path planning algorithm framework is constructed. Then, to obtain the optimal real-time path, a comprehensive real-time path evaluation mechanism that includes path safety, smoothness, and comfort is established. Finally, to verify the proposed approach, co-simulation and real vehicle testing are conducted. In the dynamic obstacle avoidance scenario simulation, the lateral acceleration, yaw angle, yaw rate, and roll angle fluctuation ranges of the ego-vehicle are \u00b12.39 m\/s2, \u00b113.31\u00b0, \u00b113.26\u00b0\/s, and \u00b10.938\u00b0, respectively. The results show that the proposed algorithm can generate real-time, available obstacle avoidance paths. And the proposed evaluation mechanism can find the optimal path for the current scenario.<\/jats:p>","DOI":"10.3390\/s23198151","type":"journal-article","created":{"date-parts":[[2023,9,29]],"date-time":"2023-09-29T07:42:08Z","timestamp":1695973328000},"page":"8151","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["An Obstacle Avoidance Path Planning and Evaluation Method for Intelligent Vehicles Based on the B-Spline Algorithm"],"prefix":"10.3390","volume":"23","author":[{"given":"Yulong","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255022, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6827-0988","authenticated-orcid":false,"given":"Pengwei","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255022, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kaichen","family":"Cui","sequence":"additional","affiliation":[{"name":"School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255022, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hengheng","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255022, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinshan","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255022, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiangcun","family":"Kong","sequence":"additional","affiliation":[{"name":"School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255022, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2516","DOI":"10.1109\/TTE.2021.3083679","article-title":"A novel adaptive steering torque control approach for human\u2013machine cooperation autonomous vehicles","volume":"7","author":"Wu","year":"2021","journal-title":"IEEE Trans. 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