考虑复杂地形和障碍尺度的无人车轨迹规划  

Trajectory Planning for Autonomous Vehicles Considering Complex Terrains and Obstacle Scales

作　　者：郭丛帅 刘辉[1] 聂士达 宋英杰 谢雨佳 张发旺 Guo Congshuai;Liu Hui;Nie Shida;Song Yingjie;Xie Yujia;Zhang Fawang(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081)

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《汽车工程》2025年第4期645-657,668,共14页Automotive Engineering

基　　金：国家自然科学基金重大项目(52394262);国家自然科学基金面上项目(52472445)资助。

摘　　要：非结构化道路往往路面起伏不平,障碍物尺度不一,忽视起伏地形及不合理处理障碍物会造成车辆运行安全性和通行效率失衡。为应对上述挑战,本文提出了考虑复杂地形和障碍尺度的轨迹规划方法。首先,基于车辆通过性分析建立了面向非结构化道路的轨迹规划框架,判定最优通行模式。其次,基于路面粗糙程度和障碍物尺度信息建立了运行风险场。另外,综合考虑运行风险和通行效率,提出了基于动态规划的避障路径规划算法和基于改进A*的跨障路径规划算法。进一步的,基于稳定性分析,提出了考虑地形约束的速度规划方法。最后,进行了实车试验。试验结果表明,非结构化道路起伏地形条件下,本文所提的轨迹规划方法平均车速提高15.8%,平均绝对俯仰角和平均绝对侧倾角分别降低68.1%和73.6%,可有效协调车辆运行安全性和通行效率,具有较好的泛化性且符合实时性需求。Unstructured road often has uneven surface and varying obstacle sizes.Neglecting the uneven terrain and handling obstacles improperly can lead to an imbalance between vehicle safety and travel efficiency.To cope with this challenge,in this paper a trajectory planning method that considers complex terrain and obstacle scales(TOTP) for unstructured road is proposed.Firstly,the trajectory-planning framework for unstructured road is established based on vehicle passability analysis,to determine the optimal travel pattern.Then,an operational risk field is established based on road roughness and obstacle's size information.In addition,considering both operational risk and travel efficiency,an obstacle avoidance path planning method based on dynamic programming and an obstacle crossing path planning method based on improved A* are proposed.Furthermore,based on vehicle stability analysis,a speed planning method considering terrain constraints is proposed.Finally,real-world experiments are conducted,and the experimental results show that under unstructured road conditions,the trajectory planning method proposed in this paper increases the average vehicle speed by 15.8%,with the average absolute pitch angle and average absolute roll angle reduced by 68.1% and 73.6% respectively.This method can effectively coordinate the safety and efficiency of vehicle operation,demonstrating good generalization and meeting the requirements of realtime performance.

关 键 词：非结构化道路 轨迹规划 路径规划 风险场 速度规划 

分 类 号：U463.6[机械工程—车辆工程]