摘要
在无人驾驶领域中,已经实现了车辆按照已有路径进行循迹无人驾驶,通常已有路径是由车辆实际采集获得。文章采用Matlab编写了循迹路径的生成算法,解决了循迹路线必须由车辆采集获取的问题,使车辆控制更加高效。再循迹路径生成算法中结合了车辆的左右转最小拐弯半径约束和允许倒车的情况,得到了无人驾驶车辆可行驶的路径。最后通过算法生成的路径进行了实车实验,车辆能够按照算法生成的路径进行自动驾驶,最后对算法生成的路径和车辆实际路径进行了对比,验证了算法的可行性。
In the field of unmanned driving,it has been realized that vehicles follow existing paths to track unmanned driving,Usually the existing path is obtained by actual vehicle collection.this paper uses Matlab to write the algorithm of generating the tracing path,which solves the problem that the tracing route must be acquired by vehicle collection and makes the vehicle control more efficient.The re-tracking path generation algorithm combines the vehicle’s left-right tur-ning minimum turning radius constraint and the allowable reversing situation to obtain a path that can be driven by an unmanned vehicle.Finally,a real-vehicle experiment was performed on the path generated by the algorithm.The vehicle can drive automatically according to the path generated by the algorithm.Finally,the path generated by the algorithm is compared with the actual path of the vehicle to verify the feasibility of the algorithm.
作者
李晋津
孙二鑫
陈宗娟
Li Jinjin;Sun Erxin;Chen Zongjuan(Automobile Data Of China(Tianjin)Co.,Ltd,Tianjin 300300)
出处
《汽车实用技术》
2020年第18期16-21,共6页
Automobile Applied Technology
关键词
路径生成
倒车
车辆转弯半径
实车实验
Path generation
Reversing
Vehicle turning radius
Real car experiment
