基于双贝塞尔曲线的稳定避障轨迹规划方法  

Stable Obstacle Avoidance Trajectory Planning Method Based on Double Bezier Curve

作　　者：刘方涛[1] 冯梦如 Liu Fangtao;Feng Mengru(Academic Affairs Office,Chongqing Vocational Institute of Engineering,Chongqing 402260,China;School of Computer Science and Technology,Chongqing University of Posts and Telecommunications,Chongqing 400065,China)

机构地区：[1]重庆工程职业技术学院教务处,重庆402260 [2]重庆邮电大学计算机科学与技术学院,重庆400065

出　　处：《兵工自动化》2025年第2期41-48,共8页Ordnance Industry Automation

基　　金：重庆市教育委员会科学技术研究项目(KJQN201903402,KJQN202303439);重庆高校创新研究群体项目(CXQT21032)。

摘　　要：为满足动态场景中智能车辆实时规划安全避障轨迹需求,提出一种基于双贝塞尔曲线的智能车辆稳定避障轨迹规划方法。对传统贝塞尔曲线进行改进,建立加入中转状态的双贝塞尔曲线轨迹规划策略,通过最小纵向安全距离模型优化中转位置以保证避障安全。结合场景信息建立车辆动力学约束优化避障策略,保证避障过程稳定性,从而得到合理轨迹集合。基于安全性与稳定性设计评价函数,以从合理轨迹集合中获取综合性能最优避障轨迹。进行Car Sim/Simulink联合仿真与硬件在环实验。实验结果表明:智能车辆避障过程中始终与障碍车保持一定安全距离,且车辆最大横摆角速度、横向加速度与侧倾角最大值分别为10.1 (°)/s,2.4 m/s^(2)与0.91°,证明所提出的轨迹规划方法在多种工况下均能生成最优避障轨迹,能保证避障过程安全、平稳完成。In order to meet the requirements of real-time planning of safe obstacle avoidance trajectory for intelligent vehicles in dynamic scenes,a stable obstacle avoidance trajectory planning method for intelligent vehicles based on double Bezier curves is proposed.The traditional Bezier curve is improved,and the trajectory planning strategy of double Bezier curve with transit state is established,and the transit position is optimized by the minimum longitudinal safety distance model to ensure the safety of obstacle avoidance.Combining with the scene information,the vehicle dynamic constraint optimization obstacle avoidance strategy is established to ensure the stability of the obstacle avoidance process,so as to obtain a reasonable trajectory set.An evaluation function is designed based on safety and stability to obtain an optimal obstacle avoidance trajectory with comprehensive performance from a reasonable trajectory set.CarSim/Simulink co-simulation and hardware-in-the-loop experiment are carried out.The experimental results show that the intelligent vehicle keeps a certain safe distance from the vehicle in the process of obstacle avoidance,and the maximum yaw rate,lateral acceleration and roll angle of the vehicle are 10.1(°)/s,2.1 m/s^(2) and 0.91°,respectively,which proves that the proposed trajectory planning method can generate the optimal obstacle avoidance trajectory under various working conditions,and can ensure that safe and stable completion of the obstacle avoidance proces.

关 键 词：智能车辆 避障 轨迹规划 双贝塞尔曲线 中转状态 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]