基于B样条算法的智能车辆局部避障路径规划  

Local obstacle avoidance path planning for intelligent vehicles based on B-spline algorithm

作　　者：张宇龙 杨金山 王鹏伟[1] 黄炯 肖文龙 ZHANG Yulong;YANG Jinshan;WANG Pengwei;HUANG Jiong;XIAO Wenlong(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255049,China;Jiangling Automobile Company Limited,Nanchang 330001,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255049 [2]江铃汽车股份有限责任公司,江西南昌330001

出　　处：《山东理工大学学报（自然科学版）》2023年第4期36-39,45,共5页Journal of Shandong University of Technology:Natural Science Edition

基　　金：国家自然科学基金项目(52102465)。

摘　　要：为保证智能车辆合理局部避障,基于B样条算法对局部避障路径规划问题进行了研究。通过建立纵向模型确定防撞约束条件,并结合车辆动力学约束、TTC碰撞时间等条件对传统B样条算法进行改进,进而得到控制点位置,规划出不同工况下的避障路径。运用CarSim与Matlab建立联合仿真平台,对规划路径进行仿真验证,结果表明规划路径安全平滑,能够有效躲避障碍物,满足横向稳定要求。In order to ensure that intelligent vehicles reasonably plan local obstacle avoidance paths,the local obstacle avoidance path planning problem is studied based on the B-spline algorithm.The traditional B-spline algorithm is improved by establishing a longitudinal model to determine the collision avoidance constraints and based on the vehicle dynamic constraints,TTC collision time and other conditions.The improved algorithm is then used to obtain the control point position and plan the obstacle avoidance path under different working conditions.Finally,a joint simulation platform is established using CarSim and Matlab to simulate and verify the planning path,and the results confirm that the planning path is safe and smooth,and it could effectively avoid obstacles and meet the requirements of lateral stability.

关 键 词：智能车辆 局部避障 B样条算法 路径规划 

分 类 号：U463.6[机械工程—车辆工程] TP18[交通运输工程—载运工具运用工程]