一种结合规划层的无人驾驶路径跟踪方法  

A path tracking method of autonomous driving combining planning layer

作　　者：沈鹏[1] 曹凯[1] 刘秉政[1] 杨旭[1] 奉柳 SHEN Peng;CAO Kai;LIU Binzheng;YANG Xu;FENG Liu(School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255049, China)

机构地区：[1]山东理工大学交通与车辆工程学院

出　　处：《山东理工大学学报（自然科学版）》2019年第6期50-55,共6页Journal of Shandong University of Technology:Natural Science Edition

摘　　要：为了解决避让障碍物并且准确地处理路径跟踪问题,提出了路径规划层与路径跟踪控制层相结合的控制方法,在规划层采用了改进人工势场法,在控制层采用了横向预瞄误差模型,并且进行了计算机仿真及实车试验。结果表明,采用规划层与控制层结合的控制方法能够较为理想地解决轨迹跟踪中避让障碍物的问题。In order to solve the problem of autonomous driving avoiding obstacles in an unknown environ ment and accurately handling path tracking problems, a control method combining the path planning layer and the path tracking control layer is proposed. The improved artificial potential field method is adopted in the planning layer and the control layer uses a lateral preview error model, which is implemented by com puter simulation and real vehicle test. The results show that the control method combined with the plan ning layer and the control layer can ideally solve the problem of avoiding obstacles in path tracking.

关 键 词：横向预瞄误差模型 人工势场法 局部路径规划 避障 

分 类 号：X913.3[环境科学与工程—安全科学] U471.15[机械工程—车辆工程]