摘要
路径规划作为无人驾驶汽车发展研究的关键技术之一,一直以来受到广泛的研究和关注。针对目前无人驾驶汽车在路径规划过程中存在的由于环境复杂度高、多约束、随机性强等情况而导致的无法规划获得最优路径这一问题,考虑无人驾驶汽车的实际应用以及研究现状,从局部路径规划和全局路径规划2个方面对无人驾驶汽车的路径规划方法进行综述,对各类路径规划思路、方法进行归纳与分析,总结了各种传统算法、类智能算法等路径规划技术的特点,为无人驾驶汽车最优路径求解这一问题的深入研究提供参考。
As one of the key technologies in the development of driverless vehicles, path planning has been widely studied and paid attention to. Aiming at solving the problem that the optimal path can't be obtained due to high environmental complexity, multiple constraints and strong randomness in the path planning, the actual application and research status of driverless vehicles are considered, the path planning methods of driverless vehicles are summarized from two aspects of local path planning and global path planning, various path planning ideas and methods, the characteristics of various traditional algorithms, quasi-intelligent algorithms and other path planning technologies are analyzed and summarized, so as to provide a reference for in-depth research on the optimal path solution of driverless vehicles.
作者
袁师召
李军
YUAN Shizhao;LI Jim
出处
《汽车工程师》
2019年第5期11-13,25,共4页
Automotive Engineer
关键词
无人驾驶
全局路径规划
局部路径规划
传统算法
智能算法
Driverless
Global path planning
Local path planning
Traditional algorithm
Intelligent algorithm
