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

• Orginal Article • Previous Articles     Next Articles

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. 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:
     

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

CLC Number: 

  • U469.7
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