机电工程技术2024，Vol.53Issue(4)：41-44,4.DOI:10.3969/j.issn.1009-9492.2024-00053
基于二次规划的智能网联汽车路径规划算法
Path Planning Algorithm for Intelligent Networked Vehicles Based on Quadratic Programming
摘要
Abstract
Aiming at the problems of path instability,curvature discontinuity and long operation time in real-time path planning of autonomous vehicles on structured roads,a quadratic based path planning algorithm is proposed.The Frenet coordinate system is constructed by taking a segment of the global discrete navigation path and smoothing it.In the discrete SLspace,dynamic programming is used to make the decision of circumnavigating obstacles in the lane,so as to open up the driving area.A cost function with safety and comfort evaluation index as the core is constructed from the driving area by quadratic programming to evaluate the planned path cost and select the optimal path that can minimize the cost.The algorithm framework was built by MATLAB/Simulink,and the simulation results show that the path planned by the algorithm in the static obstacle avoidance environment of structured roads is stable,with smaller curvature and faster running time,which is more stable and reliable than the traditional Apollo algorithm.关键词
路径规划/二次规划/智能网联汽车Key words
path planning/quadratic programming/intelligent connected vehicles分类
信息技术与安全科学引用本文复制引用
肖应学,何超,包广元..基于二次规划的智能网联汽车路径规划算法[J].机电工程技术,2024,53(4):41-44,4.基金项目
云南省教育厅科学研究基金项目(2020J0418) （2020J0418）
云南省高层次人才项目(YNWR-QNBJ-2018-066,YNQR-CYRC-2019-001) （YNWR-QNBJ-2018-066,YNQR-CYRC-2019-001）
