摘要
提出了一种运用于智能车超车的双圆弧优化算法。分析了双圆弧逼近的误差分布理论,并根据这个误差分布调整车辆的超车位置端点、圆弧的半径和车辆的行驶切线方向,使得采集到的数据点的误差分布均匀,圆弧的段数尽可能少,由此来得到应用于智能车超车的优化圆弧算法。通过Matlab仿真测试,该算法使控制器很好地调节了智能车在超车区域的行驶轨迹,实现了快速稳定的超车任务。
An optimal biarc spline algorithm for intelligent vehicle is presented. The error distribu- tion theory of biarc interpolation is analyzed, then adjusting the end point, the arc radius and the driving tangent by the error distribution, make the collected data point error distribution of uniform, arc of the number of segments of the less as far as possible. Thus to be applied in the intelligent the optimal biarc spline algorithm. Through the Matlab simulation test, this algorithm makes the controller to adjust the intelligent car well in the movement track of overtaking area, and to realize the rapid and stable overta- king task.
出处
《工业仪表与自动化装置》
2012年第5期102-105,共4页
Industrial Instrumentation & Automation
基金
甘肃省科技支撑计划资助项目(1011NKCA071)
关键词
双圆弧
误差分布
智能车
曲线拟合
算法
double - arc
error distribution
intelligent car
cure approximation
algorithm
