关键词: 自动驾驶车辆, 高斯伪谱法, 最优控制, 轨迹优化

Abstract: Aiming at the problem of multi-stages multi constraints trajectory optimization of autonomous vehicle, based on Gaussian pseudospectral method, scenario-based environment model and vehicle dynamics model are established and a variety of state constraints covering vehicle dynamics constraints and speed constraint are defined, including the parameter constraint conditions of initial and final states in each stage of autonomous driving. Then Gaussian pseudospectral method is adopted to get the approximate expression by the discretization of control variables and state variables, hence the trajectory planning problem is transformed into the optimization problem of performance indicators and finally a safe and effective path trajectory of autonomous vehicle is obtained. The results of research show that Gaussian pseudospectral method has the features of high computation accuracy and fast solving speed, and can achieve multi-stages trajectory optimization with consideration of various constraint conditions

Key words: autonomous vehicle, Gaussian pseudospectral method, optimal control, trajectory optimization