汽车工程学报2024，Vol.14Issue(6)：947-958,12.DOI:10.3969/j.issn.2095‒1469.2024.06.03
基于改进三元素避障模型的轨迹规划研究
Trajectory Planning Based on an Improved Three-Element Obstacle Avoidance Model
摘要
Abstract
A geometric obstacle avoidance model is proposed for traffic environments with dynamic obstacles,which can describe the relationship between vehicle and obstacle movements.By decomposing the spatial distance between the vehicle and the obstacle into two directional components and incorporating their relative speed,three key elements are obtained.Based on these elements,an improved obstacle avoidance model is developed.Using the Model Predictive Control(MPC)principle,the discrete vehicle kinematics model is employed as the predictive model.The objective function and constraints are constructed by adopting the Frenet coordinate system and considering factors such as road boundaries,the vehicle's mechanical structure,driving safety and comfort.Finally,a nonlinear programming problem is established and solved.In this paper,the SF5 is used as the experimental vehicle,with hardware and sensors installed to build an autonomous driving platform.A trajectory planning algorithm was deployed on a ROS and Matlab/Simulink-based software platform for real-world vehicle testing.The results show that this method not only ensures smooth obstacle avoidance,but also produces a reasonable and comfortable driving path.关键词
自动驾驶/模型预测控制/轨迹规划/联合仿真/实车试验Key words
autonomous driving/model predictive control/trajectory planning/co-simulation/real car experiment分类
交通工程引用本文复制引用
刘长君,叶跃隆,袁春..基于改进三元素避障模型的轨迹规划研究[J].汽车工程学报,2024,14(6):947-958,12.基金项目
重庆市技术创新与应用发展专项重点项目(cstc2019jscx-mbdx0052):L4级自动驾驶技术研发 （cstc2019jscx-mbdx0052）
