基于贝塞尔曲线的无人车局部避障应用  

Application of unmanned vehicle local obstacle avoidance method based on Bezier curve

作　　者：高嵩[1,2] 张金炜[3] 戎辉 王文扬[1] 郭蓬[1,2] 何佳[1] GAO Song;ZHANG Jinwei;RONG Hui;WANG Wenyang;GUO Peng;HE Jia(Automotive Engineering Research Institute,China Automotive Technology & Research Center Co.,Ltd.,Tianjin 300300,China;Tianjin University,Tianjin 300072,China;Hebei University of Technology,Tianjin 300132,China)

机构地区：[1]中国汽车技术研究中心有限公司汽车工程研究院,天津300300 [2]天津大学,天津300072 [3]河北工业大学,天津300132

出　　处：《现代电子技术》2019年第9期163-166,共4页Modern Electronics Technique

基　　金：国家博士后基金(2017M611180)~~

摘　　要：文中将基于贝塞尔曲线的路径规划方法应用在无人车局部避障中。首先通过最小化曲线的最大曲率与最小曲率之间的差值确定贝塞尔曲线所需的五个控制点,根据五个控制点确定贝塞尔曲线,再结合实验无人车和道路的实际情况从若干备选曲线中选择最优路线。实验仿真结果证明,该方法能够达到无人车局部避障的要求,能满足包括初始状态约束、目标状态约束、曲率连续约束等行驶条件。The path planning method based on quartic Bezier curve is applied to the local obstacle avoidance of unmanned vehicles. The difference between the maximum curvature and minimum curvature of the minimum curve is used to determine the five control points required by Bezier curve. The Bezier curve is determined according to the five control points,and the optimal path is selected from some alternative curves by combining the experimental unmanned vehicle with actual road situation. The experimental results show that the proposed method can meet the requirements of unmanned vehicles for local obstacle avoidance,and satisfy the driving conditions of initial state constraint,target state constraint and curvature continuous constraint.

关 键 词：路径规划 局部避障 无人车 四阶贝塞尔曲线 控制点 状态约束 

分 类 号：TN99-34[电子电信—信号与信息处理]