[1]王星,赵海良,王志刚.基于邻域系统的智能车辆最优轨迹规划方法[J].智能系统学报,2019,14(5):1040-1047.[doi:10.11992/tis.201805004]
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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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]
基于邻域系统的智能车辆最优轨迹规划方法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
14
期数:
2019年第5期
页码:
1040-1047
栏目:
学术论文—智能系统
出版日期:
2019-09-05
- Title:
- Optimal trajectory planning method of intelligent vehicles based on neighborhood system
- Keywords:
- intelligent vehicle; automatic driving; trajectory planning; obstacle avoidance; neighborhood system; optimal trajectory; satisfaction curve; comprehensive evaluation
- 分类号:
- O231.2
- 摘要:
- 针对智能车在行驶中的轨迹规划与控制问题。以邻域系统理论为基础，将智能车在复杂道路的动态控制转化为邻域内的简单静态控制；对邻域内的最优轨迹曲线进行选取，采用曲率的积分定义了曲线的弯阻指数，并以此为基础给出了邻域内的最优轨迹曲线评判模型和求解算法；以插值方法所建立的满意轨迹曲线为例进行仿真。结果表明，该方法在选取智能车的行驶轨迹的平稳光滑性上有一定的优越性。
- 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.
- 参考文献/References:
-
[1] ZHANG Kailong, YANG Ansheng, SU Hang, et al. Unified modeling and design of reservation-based cooperation mechanisms for intelligent vehicles[C]//Proceedings of the IEEE 19th International Conference on Intelligent Transportation Systems. Rio de Janeiro, Brazil, 2016:1192-1199.
[2] ZHANG Kailong, ZHANG Dafang, DE LA FORTELLE A, et al. State-driven priority scheduling mechanisms for driverless vehicles approaching intersections[J]. IEEE transactions on intelligent transportation systems, 2015, 16(5):2487-2500.
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[8] ZHAO Hailiang. A dynamic optimization decision and control model based on neighborhood systems[C]//Proceedings of the 20136th International Congress on Image and Signal Processing. Hangzhou, China, 2013:1319-1324.
[9] 付慧敏. 基于邻域系统和软优化的智能车自动倒车控制算法[D]. 成都:西南交通大学, 2016. FU Huimin. Reverse parking control method based on neighborhood system and soft optimization[D]. Chengdu:Southwest Jiaotong University, 2016.
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备注/Memo
收稿日期:2018-05-05。
基金项目:国家自然科学基金资助项目（61473239，61402382）.
作者简介:王星,男,1995年生,硕士研究生,主要研究方向为人工智能与多目标优化;赵海良,男,1962年生,教授,博士。主要研究方向为机器人控制、模糊信息处理理论以及多目标智能控制系统。主持或参与国家自然科学基金和国家经贸委重大技术开发项目、省部级科研项目和横向课题多项,获实用新型专利3项。发表学术论文50余篇;王志刚,男,1993年生,硕士研究生,主要研究方向为智能信息处理与模糊控制。
通讯作者:王星.E-mail:775423112@qq.com
更新日期/Last Update:
1900-01-01