融合遗传贝塞尔曲线的智能汽车路径规划  

Intelligent vehicle path planning based on genetic algorithm and Bézier curve

作　　者：崔根群[1] 胡可润 唐风敏[2] CUI Genqun;HU Kerun;TANG Fengmin(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300132,China;China Automotive Technology and Research Center Co.,Ltd.,Tianjin 300300,China)

机构地区：[1]河北工业大学机械工程学院,天津300132 [2]中国汽车技术研究中心有限公司,天津300300

出　　处：《现代电子技术》2021年第1期144-148,共5页Modern Electronics Technique

基　　金：国家重点研发计划(2017YFB0102500)。

摘　　要：为使智能汽车在复杂环境中自主规划出一条合理路线以实现安全避障,提出一种融合贝塞尔曲线的改进遗传算法路径规划方法。以路径的长度最短和平均曲率最小为目标函数,对适应度函数进行改进的同时,在变异过程中引入随机插入机制,最后考虑到行驶过程中的平顺性和稳定性,在车辆坐标系下通过融合贝塞尔曲线形成一条满足车辆行驶特性的平滑路径。计算机仿真结果验证了此方法的合理性和可行性。A path planning method based on improved genetic algorithm and Bézier curve is proposed to make intelligent vehicle independently plan a reasonable route in complex conditions.The objective function is determined on condition that the length is the shortest and the average curvature is the minimum.The fitness function is improved.Meanwhile,the random insertion mechanism is adopted in the mutation process of the genetic algorithm.Bézier curve is integrated in the vehicle coordinate system to form a smooth path that satisfies the driving characteristics of the vehicle,so as to ensure a smooth and stable driving.The computer simulation results show that the method is of rationality and feasibility.

关 键 词：智能汽车 遗传算法 适应度函数 贝塞尔曲线 避障规划 路径平滑 

分 类 号：TN99-34[电子电信—信号与信息处理]