基于邻域系统的智能车辆最优轨迹规划方法

PDF下载HTML

Title:

Optimal trajectory planning method of intelligent vehicles based on neighborhood system

作者:

王星, 赵海良, 王志刚

西南交通大学 数学学院 信息与计算科学系, 四川 成都 610031

Author(s):

WANG Xing, ZHAO Hailiang, WANG Zhigang

Department of Information and Computation Science, School of Mathematics, Southwest Jiaotong University, Chengdu 610031, China

关键词:

智能车辆; 自动驾驶; 轨迹规划; 车辆避障; 邻域系统; 最优轨迹; 满意曲线; 综合评判

Keywords:

intelligent vehicle; automatic driving; trajectory planning; obstacle avoidance; neighborhood system; optimal trajectory; satisfaction curve; comprehensive evaluation

分类号:

O231.2

DOI:

10.11992/tis.201805004

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.