控制与信息技术Issue(5)：60-69,10.DOI:10.13889/j.issn.2096-5427.2025.05.008
基于粒子群优化的自动驾驶车辆速度规划方法
Speed Planning Method for Autonomous Vehicles Based on Particle Swarm Optimization
摘要
Abstract
This paper proposes a speed planning method for autonomous vehicles navigating a predetermined path,aiming to solve real-time longitudinal motion planning challenges in dynamic environments.This method represents longitudinal vehicle speeds using a quartic polynomial curve in the S-T diagram.It incorporates distances,speed states and time associated with planned destinations as the optimization variables,along with an objective function and constraint conditions that take into account efficiency,comfort and safety.A particle swarm optimization algorithm is introduced to identify the global optimal particle,which is used in subsequent calculations for yielding the optimal speed-time curve.To improve the search speed,two speed decision-making strategies,conservative and aggressive,are introduced to reduce the particle dimensionality;to improve the planning quality,a following target is considered in the objective function and constraint conditions to maintain a stable and rational following distance.Simulation test results show that the speed curves planned using this method offer good comfort,safety and following performance,and the planning process maintains excellent time efficiency.关键词
自动驾驶/速度规划/粒子群优化/粒子群搜索/多项式曲线Key words
autonomous vehicle/speed planning/particle swarm optimization/particle swarm search/polynomial curves分类
交通工程引用本文复制引用
孙凯,刘良杰,刘旅帆,杨泽宇..基于粒子群优化的自动驾驶车辆速度规划方法[J].控制与信息技术,2025,(5):60-69,10.基金项目
国家重点研发计划项目(2023YFB4302600) （2023YFB4302600）
