基于最优控制理论的智能车辆轨迹生成方法
李爱娟1,2, 李舜酩2, 赵万忠2, 沈峘2, 江星星2, 邱绪云1, 王慧君1

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
图2 单障碍物环境中权重比 W 3 W 1 对时间相关轨迹特征的影响
Fig.2 Influence of weight ratio W 3 W 1 on trajectories’ features of time in an obstacle enviroment