关键词: 智能车, 轨迹规划, 连续曲率, 大角度弯道, &beta, 样条曲线

Abstract:

In order to make the intelligent vehicle can run on the large angle curve road smoothly, a new curvature-continuous obstacle avoidance trajectory planning method was introduced. The trajectory planning method was based on β-spline and utilized the convex property of β-spline. The effection of several nonholonomic constrained conditions to trajectory planning was considered in this method. The nonholonomic constraints included obstacle avoidance constraint, curvature constraint, rotational speed constraint, speed constraint, state constraint and so on. An intelligent vehicle's right-angle curve road running trajectory was generated. The trajectory was obstacle avoidance and the curvature was continuous. The intelligent vehicle's right-angle curve road running experiments were done to test the trajectory planning method. The results show that this method is more effective and feasible than the traditional method. Using this method curvature-continuous trajectory can be generated and making the vehicle run along the trajectory smoothly.

Key words: intelligent vehicle, trajectory planning, continuous curvature, large angle curve road, &beta, -spline curve