| 基于障碍物衍生状态格的智能车避障轨迹规划 |
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| 引用本文： | 胡延平,田博,陈无畏,张锐陈.基于障碍物衍生状态格的智能车避障轨迹规划[J].汽车工程,2019(8):967-974. |
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| 作者姓名： | 胡延平 田博 陈无畏 张锐陈 |
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| 作者单位： | 合肥工业大学机械工程学院;合肥工业大学汽车与交通工程学院 |
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| 基金项目： | 国家自然科学基金(U1564201和51675151);安徽省科技重大专项(17030901060);中央高校基本科研业务费专项资金(JZ2016HGBZ1009)资助 |
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| 摘 要： | 对智能汽车避障过程进行研究,提出衍生状态格的概念,并在此基础上确定避障轨迹规划算法。该算法结合避障车辆和障碍物的运动状态和位置信息,将复杂道路环境中期望避障轨迹的求取问题转换为避障车辆和状态格之间的轨迹规划问题。由相关算法生成的避障轨迹能针对性地考虑障碍物的状态并适用于多障碍物环境,提出状态格成本的概念,再采用Dijkstra搜索算法在多条可行避障轨迹中进行寻优。仿真结果表明,汽车在障碍规避过程中横摆角速度和侧向加速度值均符合稳定性要求,验证了该算法的可行性。最后通过CarSim/LabView硬件在环试验对该方法进行了进一步的验证,所得结论与仿真结果基本一致。
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| 关 键 词： | 状态格 避障 轨迹规划 状态格成本 搜索算法 |
Obstacle Avoidance Trajectory Planning for Intelligent Vehicle Based on Derived State Lattice from Obstacle |
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| Hu Yanping,Tian Bo,Chen Wuwei,Zhang Ruichen.Obstacle Avoidance Trajectory Planning for Intelligent Vehicle Based on Derived State Lattice from Obstacle[J].Automotive Engineering,2019(8):967-974. |
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| Authors: | Hu Yanping Tian Bo Chen Wuwei Zhang Ruichen |
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| Institution: | (School of Mechanical Engineering,Hefei University of Technology,Hefei230009;School of Automotive and Traffic Engineering,Hefei University of Technology,Hefei230009) |
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| Abstract: | Hu Yanping;Tian Bo;Chen Wuwei;Zhang Ruichen(School of Mechanical Engineering,Hefei University of Technology,Hefei230009;School of Automotive and Traffic Engineering,Hefei University of Technology,Hefei230009) |
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| Keywords: | state lattice obstacle avoidance trajectory planning cost of state lattice search algorithm |
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