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张新锋,陈建伟,左 思. 基于贝塞尔曲线的智能商用车换道避障轨迹规划[J]. 科学技术与工程, 2020, 20(29): 12150-12157.
ZHANG Xin-feng,CHEN Jian-wei,ZUO Si.Trajectory Planning For Intelligent Commercial Vehicle Obstacle Avoidance Based on Quartic B′ezier Curve[J].Science Technology and Engineering,2020,20(29):12150-12157.
基于贝塞尔曲线的智能商用车换道避障轨迹规划
Trajectory Planning For Intelligent Commercial Vehicle Obstacle Avoidance Based on Quartic B′ezier Curve
投稿时间:2019-11-08  修订日期:2020-06-30
DOI:
中文关键词:  智能商用车  贝塞尔曲线 避障  轨迹规划
英文关键词:intelligent commercial vehicle  b′ezier curve  obstacle avoidance  trajectory planning
基金项目:中央高校基本科研业务费专项资金(CHD2012JC048,72105473),长安大学基础研究支持计划专向基金,汽车运输安全保障技术交通行业重点实验室开放基金
        
作者单位
张新锋 长安大学汽车学院
陈建伟 长安大学
左 思 长安大学
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中文摘要:
      智能车辆的安全避障是实现自动驾驶技术的基础,针对智能商用车高速行驶中的避障问题,建立相应的避障策略,结合高速公路实际工况,对智能商用车的换道避障轨迹进行规划,分为路径规划与速度规划两方面。基于车辆的横向稳定性,结合鱼钩实验得到商用车高速转向时路径曲率的最大值,提出基于贝塞尔曲线的轨迹规划算法,对曲率进行约束,利用遗传算法选取最优避障路径。并基于车辆安全距离模型确定避障车速,规划出一条满足动力学约束以及瞬态侧翻阈值约束的避障轨迹,利用Trcksim软件对避障轨迹的可行性进行验证,结果表明智能商用车能够安全、高效的进行换道避障。
英文摘要:
      The safe obstacle avoidance of intelligent vehicles is the basis of automatic driving technology. In order to realize the automatic obstacle avoidance of intelligent commercial vehicles under high-speed driving conditions, this paper established an obstacle avoidance strategy. And combined the actual conditions of expressways, planning the lane changing trajectory of intelligent commercial vehicles for obstacle avoidance. the trajectory planning is divided into two aspects: path planning and velocity planning. Based on the lateral stability of intelligent commercial vehicles, the maximum value of the path curvature of the commercial vehicle at high speed steering was obtained by combining the hook test. A berth based algorithm based on Bezier curve was proposed to constrain the curvature and use the genetic algorithm to determine the optimal obstacle avoidance path. The vehicle speed was constrained by the vehicle safety distance model. This obstacle avoidance trajectory satisfies the dynamic constraints and transient rollover threshold constraints. Verification of the feasibility of obstacle avoidance trajectory using Trucksim software .The results show that the intelligent commercial vehicle can safely and efficiently perform lane change avoidance.
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