上海交通大学学报 ›› 2023, Vol. 57 ›› Issue (3): 345-353.doi: 10.16183/j.cnki.jsjtu.2021.443
所属专题: 《上海交通大学学报》2023年“电子信息与电气工程”专题
收稿日期:
2021-11-03
接受日期:
2022-01-11
出版日期:
2023-03-28
发布日期:
2023-03-30
通讯作者:
贺越生,助理研究员;E-mail:作者简介:
林 淳(1997-),硕士生,主要研究方向为机器人.
基金资助:
LIN Chun, HE Yuesheng(), FANG Xingqi, WANG Chunxiang
Received:
2021-11-03
Accepted:
2022-01-11
Online:
2023-03-28
Published:
2023-03-30
摘要:
局部轨迹规划是自主代客泊车系统的关键技术之一,在该场景下,现有智能车辆的局部轨迹规划方法存在规划耗时长、曲率不连续、安全性不足等问题.针对该类问题,提出一种面向泊车场景的智能车辆轨迹规划方法.该方法通过改进混合A*算法的解析扩展以及引入风险函数,提升了初始路径搜索的实时性和安全性.进一步,结合初始路径以及二次规划方法实现路径平滑和速度规划,最终完成轨迹生成.仿真实验表明,所提方法能够提升智能车辆轨迹规划实时性、平滑性以及安全性,并且在实车试验上验证所提方法在实际泊车场景的可行性.
中图分类号:
林淳, 贺越生, 方兴其, 王春香. 一种面向泊车场景智能车辆轨迹规划方法[J]. 上海交通大学学报, 2023, 57(3): 345-353.
LIN Chun, HE Yuesheng, FANG Xingqi, WANG Chunxiang. A Method for Autonomous Driving Trajectory Planning in Parking Environments[J]. Journal of Shanghai Jiao Tong University, 2023, 57(3): 345-353.
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