吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (5): 1276-1282.doi: 10.13229/j.cnki.jdxbgxb201405009

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Optimal control theory based trajectory generation method for intelligent vehicle

LI Ai-juan1,2,LI Shun-ming2,ZHAO Wan-zhong2,SHEN Huan2,JIANG Xing-xing2,
QIU Xu-yun1,WANG Hui-jun1   

  1. 1.School of Automotive Engineering, Shandong Jiaotong University, Ji′nan 250023,China;
    2.College of Energy and Power Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China
  • Received:2013-03-21 Online:2014-09-01 Published:2014-09-01

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Abstract: In order to generate feasible dynamic trajectory adapting to different road environments, the traditional trajectory generation method is improved based on the optimal control theory. The dynamic cost function is created, which includes three cost terms, time, energy, and clearance from obstacles. The influence of different weights to the trajectory features is studied, and the heuristic weight regulation rules and regulation procedure are obtained. The simulation results show that the improved trajectory generation method is feasible. The weight regulation rules and procedure are right; the optimal driving trajectory can be dynamically generated. Several constraints are obtained and the driving trajectory can adapt to different road environments.

Key words: vehicle engineering, intelligent vehicle, optimal control, trajectory generation, weight regulation

CLC Number: 

  • U471.15
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