无人驾驶电动赛车路径规划算法研究  

Research on Path Planning Algorithm for Unmanned Electric Racing

作　　者：冀同涛 李刚[1] 王明家 张旭斌 Ji Tongtao;Li Gang;Wang Mingjia;Zhang Xubin(College of Automotive and Transportation Engineering,Liaoning University of Technology,Liaoning Jinzhou 121001)

机构地区：[1]辽宁工业大学汽车与交通工程学院

出　　处：《汽车实用技术》2019年第16期37-38,45,共3页Automobile Applied Technology

摘　　要：针对大学生无人驾驶方程式大赛,提出一种适合无人驾驶电动赛车的路径规划算法。该算法利用坐标转换原理,在全局坐标系下分别提取两侧桩桶点,最终得到离散点集。离散点之间用弧线进行连接,并且保证曲线的平滑性。在MATLAB环境下进行对无人驾驶赛车的路径规划仿真。仿真结果表明:该算法能较好地规划出行驶路径,曲线平滑,可以使赛车安全可靠地通过赛道。A path planning algorithm for unmanned electric racing cars is proposed for the unmanned driving formula of college students.The algorithm uses the principle of coordinate transformation to extract the bucket points on both sides in the global coordinate system,and finally obtains the discrete point set.The discrete points are connected by an arc and the smoothness of the curve is guaranteed.Path planning simulation for unmanned racing cars in MATLAB environment.The simulation results show that the algorithm can better plan the driving path and the curve is smooth,which can make the car pass the track safely and reliably.

关 键 词：无人驾驶 路径规划 离散点集 

分 类 号：U471.15[机械工程—车辆工程]