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基于运动微分约束的无人车辆纵横向协同规划算法的研究

姜岩 龚建伟 熊光明 陈慧岩

姜岩, 龚建伟, 熊光明, 陈慧岩. 基于运动微分约束的无人车辆纵横向协同规划算法的研究. 自动化学报, 2013, 39(12): 2012-2020. doi: 10.3724/SP.J.1004.2013.02012
引用本文: 姜岩, 龚建伟, 熊光明, 陈慧岩. 基于运动微分约束的无人车辆纵横向协同规划算法的研究. 自动化学报, 2013, 39(12): 2012-2020. doi: 10.3724/SP.J.1004.2013.02012
JIANG Yan, GONG Jian-Wei, XIONG Guang-Ming, CHEN Hui-Yan. Research on Differential Constraints-based Planning Algorithm for Autonomous-driving Vehicles. ACTA AUTOMATICA SINICA, 2013, 39(12): 2012-2020. doi: 10.3724/SP.J.1004.2013.02012
Citation: JIANG Yan, GONG Jian-Wei, XIONG Guang-Ming, CHEN Hui-Yan. Research on Differential Constraints-based Planning Algorithm for Autonomous-driving Vehicles. ACTA AUTOMATICA SINICA, 2013, 39(12): 2012-2020. doi: 10.3724/SP.J.1004.2013.02012

基于运动微分约束的无人车辆纵横向协同规划算法的研究

doi: 10.3724/SP.J.1004.2013.02012
基金项目: 

国家自然科学基金(51275041),教育部博士点基金(201211011200 15)资助

详细信息
    作者简介:

    熊光明 北京理工大学智能车辆研究所副教授. 2005 年获北京理工大学机械电子工程系博士学位. 主要研究方向为智能车机器人的控制及视觉技术.E-mail:xiongguangming@bit.edu.cn

Research on Differential Constraints-based Planning Algorithm for Autonomous-driving Vehicles

Funds: 

Supported by National Natural Science Foundation of China (51275041) and Ph.D. Programs Foundation of Ministry of Education of China (20121101120015)

  • 摘要: 为了满足在动态环境中快速行驶的要求,现有无人车辆普遍采用在传统规划系统的两层结构(路径规划-路径跟踪)之间增加局部规划的方法,通过在路径跟踪的同时进行避障来减少耗时的全局路径重规划. 本文针对这种三层结构规划系统存在的问题,提出基于运动微分约束的纵横向协同规划算法,在真实环境中实现速度不超过40km/h的无人驾驶. 根据车辆的实时运动状态,用高阶多项式模型在预瞄距离内对可行驶曲线进行建模,不仅使行驶过程中的转向平稳,而且在较高速时仍具有良好的路径跟踪能力. 由横向规划提供横向安全性的同时,在动力学约束的速度容许空间中进行纵向规划,实现平顺的加速与制动,并保证了纵向安全性和侧向稳定性. 该算法根据实时的局部环境自动决定纵横向期望运动参数,不需要人为设定行驶模式或调整参数. 采用该算法的无人驾驶平台在2011年和2012年智能车未来挑战赛的真实交通环境中,用统一的程序框架顺利完成全程的无人驾驶.
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出版历程
  • 收稿日期:  2012-08-24
  • 修回日期:  2013-01-11
  • 刊出日期:  2013-12-20

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