摘要
为了使智能车能够顺利地在大角度弯道上行驶,提出一种新的曲率连续的无碰轨迹规划方法。该轨迹规划方法基于β样条曲线,利用β样条曲线的凸多边形属性,考虑避碰约束、曲率约束、转向速度约束以及状态约束等非完整约束条件对运动轨迹规划的影响,生成一条曲率连续的无碰行驶轨迹。实车试验结果表明,提出的方法比传统方法更加有效可行,规划的轨迹曲率连续,且能够使得车辆顺畅地进行循迹行驶。
In order to make the intelligent vehicle can run on the large angle curve road smoothly, a new curvature--continuous obstacle avoidance trajectory planning method was introduced. The traj- ectory planning method was based on β- spline and utilized the convex property ofβ--spline. The ef- fection of several nonho!.onomic constrained conditions to trajectory planning was considered in this method. The nonholonomic constraints included obstacle avoidance constraint, curvature constraint, rotational speed constraint,speed constraint,state constraint and so on. An intelligent vehicle＇s right --angle curve road running trajectory was generated. The trajectory was obstacle avoidance and the curvature was continuous. The intelligent vehicle＇s right--angle curve road running experiments were done to test the trajectory planning method. The results show that this method is more effective and feasible than the traditional method. Using this method curvature--continuous trajectory can be gener- ated and making the vehicle run along the trajectory smoothly.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2014年第2期273-278,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50555135)
中国博士后科学基金资助项目(2011M500917)
江苏省博士后科研资助计划资助项目(1101153C)
关键词
智能车
轨迹规划
连续曲率
大角度弯道
β样条曲线
intelligent vehicle
trajectory planning
continuous curvature
large angle curve road
β -- spline curve
