未知环境下智能汽车轨迹规划滚动窗口优化

doi:10.13229/j.cnki.jdxbgxb20170323

吉林大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (3): 652-660.doi: 10.13229/j.cnki.jdxbgxb20170323

未知环境下智能汽车轨迹规划滚动窗口优化

张琳¹, 章新杰¹, 郭孔辉¹, 王超¹, 刘洋², 刘涛³

1.吉林大学汽车仿真与控制国家重点实验室,长春 130022;
2.长春孔辉汽车科技股份有限公司, 长春130012;
3. 中国第一汽车集团公司技术中心,长春 130011;

收稿日期:2017-04-07 出版日期:2018-05-20 发布日期:2018-05-20
通讯作者: 章新杰(1984-),男,副教授,博士.研究方向:车辆动力学及控制,驾驶员模型,智能汽车.E-mail:zhangxinjie5885@163.com
作者简介:张琳(1991-),男,博士研究生.研究方向:车辆动力学及控制,智能汽车.E-mail:zhanglin_jlu@foxmail.com
基金资助:
国家自然科学基金项目(51675217,51705186); 国家自然科学基金联合基金项目(U1564213); 江西科技学院产业升级协同创新中心开放基金项目(16XTKFYB02); 中国科协青年人才托举工程项目(2016QNRC001).

Rolling window optimization for intelligent vehicle trajectory planning in unknown environment

ZHANG Lin¹, ZHANG Xin-jie¹, GUO Kong-hui¹, WANG Chao¹, LIU Yang², LIU Tao³

1.State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022,China;
2.KH Automotive Technologies (Changchun) Co.Ltd., Changchun 130012,China;
3.R&D Center,China Faw Group Corporation, Changchun 130011,China;

Received:2017-04-07 Online:2018-05-20 Published:2018-05-20
Supported by:

摘要/Abstract

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。

关键词: 车辆工程, 智能汽车, 轨迹规划, 车辆动力学, 滚动窗口

Abstract: In order to solve the trajectory planning of intelligent vehicle with multi-constraint conditions in unknown environment, a rolling optimization scheme is presented. A feasible trajectory planning method in the local environment is proposed via vehicle dynamic study. With the characteristics of smooth trajectories of six polynomials, the process of trajectory planning is transformed into solving a single polynomial coefficient. The obstacles in the planning window are classified according to the metric function, and the optimal trajectory and vehicle speed are decided according to the optima index. Simulink and CarSim are used to develop the environmental model and the trajectory model. The effectiveness of the planning scheme is verified by simulation study.

Key words: vehicle engineering, intelligent vehicles, trajectory planning, vehicle dynamics, rolling window

中图分类号:

U469.7

张琳, 章新杰, 郭孔辉, 王超, 刘洋, 刘涛. 未知环境下智能汽车轨迹规划滚动窗口优化[J]. 吉林大学学报(工学版), 2018, 48(3): 652-660.

ZHANG Lin, ZHANG Xin-jie, GUO Kong-hui, WANG Chao, LIU Yang, LIU Tao. Rolling window optimization for intelligent vehicle trajectory planning in unknown environment[J]. 吉林大学学报(工学版), 2018, 48(3): 652-660.

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未知环境下智能汽车轨迹规划滚动窗口优化

Rolling window optimization for intelligent vehicle trajectory planning in unknown environment

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