汽车工程 ›› 2024, Vol. 46 ›› Issue (3): 383-395.doi: 10.19562/j.chinasae.qcgc.2024.03.002
• • 上一篇
吴晓建1,2(),廖平伟1,4,雷耀2,江会华2,王爱春2,胡家琦3
收稿日期:
2023-07-09
修回日期:
2023-09-08
出版日期:
2024-03-25
发布日期:
2024-03-18
通讯作者:
吴晓建
E-mail:saintwu520@163.com
基金资助:
Xiaojian Wu1,2(),Pingwei Liao1,4,Yao Lei2,Huihua Jiang2,Aichun Wang2,Jiaqi Hu3
Received:
2023-07-09
Revised:
2023-09-08
Online:
2024-03-25
Published:
2024-03-18
Contact:
Xiaojian Wu
E-mail:saintwu520@163.com
摘要:
智能车在动态环境中的轨迹规划须具备良好的舒适性及安全性,离散采样轨迹规划算法具有实时性高、多目标最优等优点而被广泛研究和应用,但在仿真及实车测试中发现,典型的基于多项式优化求解的离散采样局部轨迹规划结果在换道等瞬态过程存在一致性较差的问题。本文针对性提出一种考虑一致性评价的“拼接+强规划”轨迹规划算法。具体而言,根据自车状态截取历史轨迹为当前周期拼接轨迹,结合拼接轨迹和轨迹末状态采样点生成基于多项式的候选轨迹簇作为轨迹强规划阶段,再基于轨迹横向偏差设计轨迹一致性评价函数以从轨迹簇中选取较高一致性的最优行驶轨迹。经仿真和真实道路场景实车验证,表明所提出的轨迹规划方法在满足轨迹安全性、平顺性、舒适性要求的基础上提高了智能驾驶车辆行驶轨迹的整体一致性。
吴晓建,廖平伟,雷耀,江会华,王爱春,胡家琦. 面向结构化道路的智能驾驶轨迹规划一致性研究[J]. 汽车工程, 2024, 46(3): 383-395.
Xiaojian Wu,Pingwei Liao,Yao Lei,Huihua Jiang,Aichun Wang,Jiaqi Hu. Research on Consistency of Intelligent Driving Trajectory Planning for Structured Road[J]. Automotive Engineering, 2024, 46(3): 383-395.
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