Local path planning method based on moth fire suppression-intelligent vehicle course angle optimization

A local path planning method based on moth fire suppression-intelligent vehicle course angle optimization comprises an intelligent vehicle local path planning system and is characterized in that a sensor unit transmits road information to a potential field force calculation unit; an obstacle entering safety ellipse judgment unit judges whether to enter a safety ellipse or not; the moth-fire-fighting-based optimal course angle calculation unit receives a signal that an obstacle has entered a safe ellipse, outputs an optimal course angle and transmits the optimal course angle to the next-step position calculation unit; the local minimum value judgment unit judges whether the intelligent vehicle is in a local minimum value or not; penalty terms calculated by the penalty term unit are input into the potential field force calculation unit, and the potential field force calculation unit recalculates potential field force; and the vehicle reaching target point judgment unit receives the signal that the intelligent v