摘要
针对传统人工势场法在智能车辆局部路径规划中未充分考虑车辆动力学和运动学约束的不足,提出一种基于动态虚拟障碍物的局部路径规划方法.首先根据环境、车辆运行状态和道路交通规则分析车辆行驶安全性并获得虚拟车道线的解析表达,再进行车辆驾驶行为决策并生成受约束的动态虚拟障碍物,最后采用考虑动力学和运动学约束的改进人工势场法进行局部路径规划.仿真实验表明,该方法在保证动力学和运动学约束的前提下,能够在不同初始速度、相对速度和相对距离工况下获得较好的规划性能.
Traditional artificial potential gent vehicle local path planning, as it does A dynamic virtual obstacle based local path environment information, vehicle operation field （APF） method can hardly be applied directly to intelli not take into acco planning method unt the was pre dynamics and kinematics constraints. sented to solve this problem. Firstly, status and traffic rules were used to analyze driving safety, and the analytical expression of the virtual lane was deduced. Secondly, driving operation decision was made and constrained dynamic virtual obstacles were generated according to the decision. Finally, the local path was planned on the basis of an improved APF with dynamics and kinematics constraints. Simulation results show that the proposed method can achieve better planning performance at various initial speeds, relative speeds and relative distance under the condition of dynamics and kinematics constraints.
出处
《湖南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第1期33-37,共5页
Journal of Hunan University:Natural Sciences
基金
教育部长江学者与创新团队发展计划资助项目(531105050037)
湖南大学汽车车身先进设计制造国家重点实验室自主研究课题资助项目(61075002)
湖南大学青年教师科技创新扶持资助项目(531107040144)
关键词
动态虚拟障碍
动力学
运动学
局部路径规划
dynamic virtual obstacles
dynamics
kinematics local path planning
