摘要
智能车行驶过程中的运动轨迹规划方法是智能车辆技术研究的重要组成部分。给出了运动轨迹规划方法研究的主要内容,讨论了该方法涉及的关键技术:轨迹曲率连续技术,轨迹动态规划技术和轨迹优化技术,并分析了各种技术的优点和不足之处。最后,在总结全文的基础上对运动轨迹规划方法今后的发展方向做出了展望。
The motion trajectory planning method for intelligent vehicle is an important component in the intelligent vehicle field. The main studying contents of the motion trajectory planning method is pointed out, some key tech- nologies are discussed, the key technologies include trajectory＇s curvature-continuous technology, trajectory＇s dy- namic planning technology and trajectory＇s optimization technology. The analysis is made on these technologies be- tween the advantages and disadvantages. Finally, the conclusions and perspectives of the intelligent vehicle＇s mo- tion trajectory planning method are addressed.
出处
《机械科学与技术》
CSCD
北大核心
2013年第7期1022-1026,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
中国博士后科学基金项目(2011M500917)
江苏省博士后科研计划项目(1101153C)
江苏省普通高校研究生科研创新计划项目(CXLX11_0180)资助
关键词
智能车
运动轨迹规划
曲率连续
动态规划
轨迹优化
artificial intelligence
optimization
intelligent vehicle
motion trajectory planning
curvature-continuous
dynamic planning
trajectory optimization
