吉林大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (3): 652-660.doi: 10.13229/j.cnki.jdxbgxb20170323
张琳1, 章新杰1, 郭孔辉1, 王超1, 刘洋2, 刘涛3
ZHANG Lin1, ZHANG Xin-jie1, GUO Kong-hui1, WANG Chao1, LIU Yang2, LIU Tao3
摘要: 为解决多约束条件下智能汽车在未知环境中生成全局最优轨迹的问题,引入滚动窗口优化策略,在研究车辆动力学模型特性的基础上,提出了一种能够同时满足行驶安全和全局最优的动态轨迹规划方法。为保证车辆在行驶过程中轨迹连续平稳,采用六次多项式生成曲率连续的轨迹,并将轨迹规划问题转化为求解单个多项式系数的过程。考虑车辆自身约束以及环境约束对轨迹生成速度的影响,对规划窗口中的障碍物按照度量函数进行分类,并根据最优指标决策出当前规划窗口下的局部最优轨迹和车速。利用Simulink-CarSim搭建了环境模型以及轨迹规划模型,最后通过仿真试验验证了该方法的有效性。
中图分类号:
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