非结构化环境下自主车辆轨迹规划方法

面向非结构化环境下的自主车辆导航,为解决其中的轨迹规划问题,提出一种基于初始状态与目标状态约束的圆弧拼接方法.在此基础上考虑障碍物约束,基于自上而下的细分方法实现多段圆弧的连接,得到可行的轨迹系列.基于本文所提出的优化指标对轨迹系列进行评价,得到适合车辆运动的期望轨迹.结果表明:得到的轨迹具有光滑的曲率特性,适合车辆实际控制.该方法既融合车辆的运动特性,同时满足自主驾驶的实时性需求,适合实际车辆自主导航应用.

Trajectory planning for autonomous driving in unstructured environments

To resolve this question of trajectory planning for autonomous land vehicle in unstructured environments,a novel algorithm for a feasible trajectory was proposed.Considering the obstacle restriction in real environments,an up-down decomposing method was proposed,resulting in a series of feasible trajectory.Based on a proposed optimization function,an optimal trajectory was gotten for the real vehicle driving.The results show that the proposed algorithm can solve the restrictions of the initial state and the...