[1]WANG Xing,ZHAO Hailiang,WANG Zhigang.Optimal trajectory planning method of intelligent vehicles based on neighborhood system[J].CAAI Transactions on Intelligent Systems,2019,14(5):1040-1047.[doi:10.11992/tis.201805004]
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Optimal trajectory planning method of intelligent vehicles based on neighborhood system

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 14 Number of periods: 2019 5 Page number: 1040-1047 Column: 学术论文—智能系统 Public date: 2019-09-05
Title:
Optimal trajectory planning method of intelligent vehicles based on neighborhood system
Author(s):
WANG Xing;  ZHAO Hailiang;  WANG Zhigang
Department of Information and Computation Science, School of Mathematics, Southwest Jiaotong University, Chengdu 610031, China
Keywords:
intelligent vehicle; automatic driving; trajectory planning; obstacle avoidance; neighborhood system; optimal trajectory; satisfaction curve; comprehensive evaluation
CLC:
O231.2
DOI:
10.11992/tis.201805004
Abstract:
This study mainly investigates the trajectory planning and control problems in the driving process of smart vehicles. First, based on the theory of neighborhood system, the dynamic control of intelligent vehicles on complex roads is transformed into a simple static control in the neighborhood, and then the optimal trajectory is selected in the neighborhood. The bending resistance index of the curve is defined by the integral of the curvature, and based on this, the optimal trajectory curve evaluation model and algorithm in the neighborhood is given. Finally, a satisfactory trajectory curve established by the interpolation method is taken as an example for simulation. The results show that this method has some advantages in selecting the steadiness and smoothness of the driving trajectory of an intelligent vehicle.
References:
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