无人驾驶汽车路径规划算法研究综述

无人驾驶汽车是目前汽车发展的一个大方向,无人驾驶的实现依靠于汽车的感知、决策和控制功能。路径规划属于决策中重要的一环。目前,无人驾驶汽车的路径规划算法存在受环境影响较大,无法适用于复杂的道路环境的问题,基于此文章对无人驾驶汽车轨迹规划算法进行归纳。其在广义上可分成全局路径规划和局部路径规划两种,文章对上述两种规划进行细分并介绍了各种路径规划方法的原理,分析了各个方法的优劣,为无人驾驶汽车路径规划算法的研究提供参考。

Overview of Research on Path Planning Algorithms for Self-driving Vehicles

Self-driving vehicles are a major direction of automotive development.The realization of self-driving vehicles depends on function of the perception,decision-making and control functions.Path planning is an important part of decision-making.At present,the path planning algorithm of self-driving vehicles is greatly affected by the environment and cannot be applied to the complex road environment.Based on this,the trajectory planning algorithm of the driverless car is summarized.It is including global path planning and local path planning that can be devided into several kinds and the principles of those are introduced with the advantages and disadvantages.It can be a reference to the researchers being interested in self-driving.