中国机械工程2025，Vol.36Issue(10)：2463-2471,9.DOI:10.3969/j.issn.1004-132X.2025.10.036
基于时空风险场的智能车辆轨迹规划
Intelligent Vehicle Trajectory Planning Based on Spatio-temporal Risk Fields
摘要
Abstract
Aming to describe and avoid different dimensions of risks faced by intelligent vehicles,a two-layer trajectory planning method was proposed based on spatio-temporal risk fields.Traffic elements were divided into abstract elements and concrete elements,the spatial-temporal risk fields of abstract ele-ments based on Gaussian distribution function and concrete elements based on spatial vector were estab-lished respectively to represent the environmental risks faced by intelligent vehicles in three dimensions:vertical,horizontal and temporal.Additionally,the trajectory planning problem of intelligent vehicles was divided into path and speed dual planning problem.The longitudinal-lateral dimension risk and longitudinal-temporal dimension risk were accordingly applied to dynamic planning cost function.Then,the path and speed with the comprehensive lowest cost were calculated,and combined with quadratic programming algo-rithm,the path and velocity were further optimized to obtain the final trajectory.Simulation results demon-strate that the proposed methodology may effectively characterize spatio-temporal driving risks across di-verse scenarios while generating constraint-satisfying trajectories,thereby significantly enhance road driv-ing safety.关键词
智能车辆/时空风险场/轨迹规划/动态规划Key words
intelligent vehicle/spatio-temporal risk field/trajectory planning/dynamic planning分类
交通运输引用本文复制引用
孔慧芳,王晨顺,张倩,刘田阔..基于时空风险场的智能车辆轨迹规划[J].中国机械工程,2025,36(10):2463-2471,9.基金项目
安徽省重点研发计划(JZ2021AKKG0310) （JZ2021AKKG0310）
