智能车大角度弯道转向曲率连续的轨迹规划方法

发布时间：2018-03-23 20:56

本文选题：智能车　切入点：轨迹规划　出处：《中国机械工程》2014年02期

【摘要】：为了使智能车能够顺利地在大角度弯道上行驶,提出一种新的曲率连续的无碰轨迹规划方法。该轨迹规划方法基于β样条曲线,利用β样条曲线的凸多边形属性,考虑避碰约束、曲率约束、转向速度约束以及状态约束等非完整约束条件对运动轨迹规划的影响,生成一条曲率连续的无碰行驶轨迹。实车试验结果表明,提出的方法比传统方法更加有效可行,规划的轨迹曲率连续,且能够使得车辆顺畅地进行循迹行驶。
[Abstract]:In order to make the intelligent vehicle run smoothly on the large angle curve, a new method of non-collision trajectory planning with continuous curvature is proposed. The trajectory planning method is based on the 尾 spline curve and uses the convex polygon attribute of the 尾 spline curve. Considering the influence of nonholonomic constraints, such as collision avoidance constraint, curvature constraint, steering speed constraint and state constraint, on motion trajectory planning, a continuous non-collision trajectory with curvature is generated. The proposed method is more effective and feasible than the traditional method, the trajectory curvature of the planning is continuous, and the vehicle can follow the track smoothly.
【作者单位】：南京航空航天大学;山东交通学院;
【基金】：国家自然科学基金资助项目(50555135) 中国博士后科学基金资助项目(2011M500917) 江苏省博士后科研资助计划资助项目(1101153C)
【分类号】：U495;U463.6;TP391.7

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