具有多型避障方式的智能车辆路径规划  

Path Planning with Multiple Obstacle-Avoidance Modes for Intelligent Vehicles

作　　者：胡子牛 陈鑫鹏 杨泽宇 余子云 秦洪懋 高铭 Hu Ziniu;Chen Xinpeng;Yang Zeyu;Yu Ziyun;Qin Hongmao;Gao Ming(College of Mechanical and Vehicle Engineering,Hunan University,State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle,Changsha 410082;Wuxi Intelligent Control Research Institute of Hunan University,Wuxi 214115)

机构地区：[1]湖南大学机械与运载工程学院,整车先进设计制造技术全国重点实验室,长沙410082 [2]湖南大学无锡智能控制研究院,无锡214115

出　　处：《汽车工程》2025年第3期402-411,共10页Automotive Engineering

基　　金：国家自然科学基金(52202493);整车先进设计制造技术全国重点实验室开放基金(32315007)资助。

摘　　要：非结构化场景往往存在多种尺寸各异的障碍物,路径规划过程只考虑绕行的避障方式会导致车辆通行效率降低。针对该问题,本文在传统混合A^(*)算法中融合分层碰撞检测策略,提出了一种具有多型避障方式的智能车辆路径规划方法。首先,以车辆底盘高度为基准构造上下双层栅格地图,并利用车身轮廓和四轮轮廓设计分层碰撞检测策略;然后,通过合理设计的启发函数与代价函数计算方式,使得混合A^(*)算法能够在多障碍物场景中高效搜索路径;最后,利用梯度下降法对路径进行平滑优化。仿真与实车试验结果表明,所提出算法可有效提高路径搜索效率并改善路径平滑性,且规划路径兼顾了跨障与绕障方式,使得车辆在多障碍物场景下具备更良好的通过性。In unstructured scenes,there are often obstacles of various sizes,and the path planning process that only considers obstacle avoidance methods such as detours will lead to decrease in vehicle traffic efficiency.For these problems,in this paper an intelligent vehicle path planning method with multiple obstacle-avoidance modes is proposed by integrating a layered collision detection strategy into the traditional Hybrid A^(*)algorithm.Firstly,a double-layer grid map is constructed based on the vehicle chassis height,and a layered collision detection strategy is designed using the body contour and four-wheel contour.Then,through a well-designed heuristic function and cost function calculation method,the Hybrid A^(*)algorithm can efficiently search for paths in multi obstacle scenes.Finally,the gradient descent method is used to smooth and optimize the path.Simulation and real vehicle experiment results demonstrate the effectiveness of the proposed algorithm in improving path search efficiency and significantly enhancing path smoothness.Moreover,the planned paths consider both crossing and bypassing strategies for obstacle avoidance,enabling vehicles to have better passability in multi-obstacle scenarios.

关 键 词：路径规划 混合A*算法 分层碰撞检测策略 梯度下降法 

分 类 号：U463.6[机械工程—车辆工程]