基于B-spline的路径规划与轨迹跟踪研究  

Research on path planning and trajectory tracking based on B-spline

作　　者：庞同嘉 王金波 田宇洋 PANG Tongjia;WANG Jinbo;TIAN Yuyang(Automotive Engineering College,Shandong Jiaotong University,Jinan 250357,Shandong,China)

机构地区：[1]山东交通学院汽车工程学院,山东济南250357

出　　处：《农业装备与车辆工程》2024年第7期50-55,61,共7页Agricultural Equipment & Vehicle Engineering

基　　金：山东交通学院研究生教学成果培育项目“新工科背景下研究生产学研协同培养模式改革”(GJY202208)。

摘　　要：为满足局部路径规划换道路径下的特性和提高智能驾驶车辆在多种变曲率条件下的路径跟踪精度和稳定性,采用贝塞尔曲线、B-spline等路径规划换道条件下的方法,分别在圆形轨迹、8字形轨迹、S形轨迹、正弦曲线形轨迹路径下,基于MATLAB对4类路径跟踪算法进行分析,得出最合理的B-spline路径规划和跟踪算法。结果表明,B-spline算法在换道点和并道点曲率为0,满足换道条件的要求;MPC算法在正弦轨迹下比其他算法平均误差小约48.6%,在圆形轨迹下比其他算法平均误差小约84%,说明该算法在多种轨迹下都具有很好的跟踪性,能在一定程度上保证智能驾驶汽车的安全性和稳定性,为今后智能车辆路径规划和轨迹跟踪控制研究提供参考。In order to meet the characteristics of local path planning and lane change paths and improve the path tracking accuracy and stability of intelligent driving vehicles under various variable curvature conditions,the methods under the conditions of path planning and lane change such as Bezier curve and B-spline were used to analyze four types of path tracking algorithms based on MATLAB under the paths of circular trajectory,8-shapde trajectory,S-shaped trajectory and sinusoidal trajectory,respectively,and the most reasonable B-spline path planning and tracking algorithm was obtained.The results showed that the curvature of the B-spline algorithm at the lane change point and the parallel point was 0,which met the requirements of the lane change condition.The MPC algorithm had an average error of about 48.6%smaller than that of other algorithms under the sinusoidal trajectory and about 84%smaller than the average error of other algorithms under the circular trajectory,and the results showed that the algorithm had good tracking performance under a variety of trajectories.This research could ensure the safety and stability of intelligent driving vehicles to a certain extent,and provides a basis for future research on path planning and trajectory tracking control of intelligent vehicles.

关 键 词：智能驾驶 轨迹跟踪 B-SPLINE 稳定性 

分 类 号：U463.6[机械工程—车辆工程]