重庆理工大学学报2026，Vol.40Issue(13)：45-52,8.DOI:10.3969/j.issn.1674-8425(z).2026.07.006
考虑附着系数的智能汽车时空轨迹规划
Spatio-temporal trajectory planning for intelligent vehicles considering road adhesion coefficients
摘要
Abstract
To improve the safety of intelligent vehicles under different road adhesion conditions,this paper proposes a 3D spatiotemporal elastic band trajectory optimization method that integrates the road adhesion coefficient.First,a semantic spatiotemporal graph was developed to generate collision-free corridors in the 3D spatiotemporal coordinate system.The corridor boundaries were adaptively tightened or relaxed according to the road adhesion coefficient to ensure vehicle handling stability.Then,the trajectory optimization was formulated as a multi-objective sparse factor graph optimization model,whose cost terms include dynamic constraints,lateral acceleration,minimum turning radius,and avoidance costs for both static and dynamic obstacles.Finally,the model was efficiently solved using a sparse graph optimizer,producing executable sequences of velocity,pose,and acceleration.Joint simulation results show the proposed method provides higher conservativeness and safety margins under low-adhesion conditions and maintains online planning performance at the milliseconds level,meeting the requirements for real-time deployment.关键词
语义时空图/路径规划/路面附着系数/稀疏图优化Key words
semantic spatio-temporal graph/path planning/road adhesion coefficient/sparse graph optimi-zation分类
交通工程引用本文复制引用
徐子祥,于潇,陶文明,李波,李明,张玉柯..考虑附着系数的智能汽车时空轨迹规划[J].重庆理工大学学报,2026,40(13):45-52,8.基金项目
国家自然科学基金项目(52375105,52411540234) （52375105,52411540234）
山东省自然科学基金项目(ZR2022YQ51,ZR2023ME177) （ZR2022YQ51,ZR2023ME177）
