基于优化的离散空间轨迹规划算法  

Optimisation-based algorithm for discrete space trajectory planning

作　　者：宋春雷[1] 张嘉轩 田晓春 徐建华 吴晓晖 张钰荣 SONG Chunlei;ZHANG Jiaxuan;TIAN Xiaochun;XU Jianhua;WU Xiaohui;ZHANG Yurong(School of Automation,Beijing Institute of Technology,Beijing 100081,China;Beijing Institute of Automatic Control Equipment,Beijing 100074,China)

机构地区：[1]北京理工大学自动化学院,北京100081 [2]北京自动化控制设备研究所,北京100074

出　　处：《中国惯性技术学报》2023年第11期1150-1156,1166,共8页Journal of Chinese Inertial Technology

基　　金：装备重大基础研究项目(51405-02A03)。

摘　　要：针对无人车离散空间轨迹规划时存在路径不平滑、速度不平稳、动态规划运算时间长等问题,提出一种基于优化的离散空间轨迹规划算法。将无人车所需搜索的空间解耦为纵向-横向空间(S-L空间)和纵向-时间空间(S-T空间),在S-L空间根据静态避障和路径平滑程度的要求设计代价函数进行动态规划,进而利用二次规划对动态规划结果进行优化;在S-T空间提出一种改进的动态规划方法,根据道路速度限制和不可倒车约束优化搜索,并引入启发函数加快对规划终点的搜索速度,减少算法计算量,提高运行效率。仿真实验结果表明,在静态避障和动态避障环境中,所提算法规划出的轨迹曲率更小、速度变化更平滑、运行时间更快,相比于传统动态规划算法单次规划时间减少了77.13%。Aiming at the problems of unsmooth path,unstable speed and long dynamic planning time in discrete space trajectory planning of unmanned vehicles,an optimization-based algorithm for discrete space trajectory planning is proposed.The space to be searched by the unmanned vehicle is decoupled into longitudinal-horizontal space and longitudinal-temporal space.In S-L space,cost function is designed for dynamic planning according to the requirements of static obstacle avoidance and path smoothing,and then the dynamic planning results are optimised using quadratic planning.In S-T space,an improved dynamic planning method is proposed to optimise the search according to road speed limits and non-reverse constraints,and the heuristic functions are introduced to speed up the search for planning endpoints,so as to reduce the algorithm's computational effort and improve operational efficiency.The simulation results show that in static and dynamic obstacle avoidance environment,the trajectory curvature of the proposed algorithm is smaller,the speed changes more smoothly,and the running time is faster.Compared with the traditional dynamic programming algorithm,the single planning time is reduced by 77.13%.

关 键 词：自动驾驶 轨迹规划 速度规划 离散优化 

分 类 号：U461[机械工程—车辆工程]