自动化学报Issue(3)：486-496,11.DOI:10.16383/j.aas.2015.c140295
基于四阶贝塞尔曲线的无人车可行轨迹规划
Feasible Tra jectory Generation for Autonomous Vehicles Based on Quartic B´ezier Curve
摘要
Abstract
For practical autonomous vehicles, the generated trajectories should ensure the feasibility imposed by kine-matic, dynamic and actuation. To generate a locally feasible trajectory from the initial state to the target state, a trajectory generation algorithm based on quartic B´ezier curve is proposed. Firstly, the original problem is decomposed into shaping the trajectory and executing the shape. To satisfy the kinematic constraints, initial state and target state constraints and continuous curvature constraint, a quartic B´ezier curve defined by 3 parameters is adopted to shape the tra jectory. To further ensure the feasibility of steering, optimization is utilized to resolve a set of parameters to generate a trajectory that has a minimum curvature change. For velocity generation, an interval of executing time is firstly generated to ensure a continuous velocity, continuous acceleration, bounded acceleration and side-slip avoidance at the target state. Then, the executing time that could avoid side-slip at every point is resolved by adjusting the time. Finally, the executing velocity of the trajectory at each point is generated based on the executing time. To verify the algorithm, trajectory generation based on real environment data and simulations on search space generation, driving on road and path tracking are conducted.关键词
轨迹规划/可行性/无人车/四阶贝塞尔曲线Key words
Tra jectory generation/feasibility/autonomous vehicles/quartic B´ezier curve引用本文复制引用
陈成,何玉庆,卜春光,韩建达..基于四阶贝塞尔曲线的无人车可行轨迹规划[J].自动化学报,2015,(3):486-496,11.基金项目
国家重点自然科学基金(61035005)资助Supported by State Key Program of National Natural Science Foundation of China (61035005) （61035005）
