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Alternative TitleFeasible trajectory generation for autonomous vehicles based on quartic Bzier curve
陈成; 何玉庆; 卜春光; 韩建达
Source Publication自动化学报
Indexed ByEI ; CSCD
EI Accession number20151700776723
Contribution Rank1
Funding Organization国家重点自然科学基金(61035005)资助
Keyword轨迹规划 四阶贝塞尔曲线 可行性 无人车
Other AbstractFor practical autonomous vehicles, the generated trajectories should ensure the feasibility imposed by kinematic, dynamic and actuation. To generate a locally feasible trajectory from the initial state to the target state, a trajectory generation algorithm based on quartic Bézier curve is proposed. Firstly, the original problem is decomposed into shaping the trajectory and executing the shape. To satisfy the kinematic constraints, initial state and target state constraints and continuous curvature constraint, a quartic Bézier curve defined by 3 parameters is adopted to shape the trajectory. To further ensure the feasibility of steering, optimization is utilized to resolve a set of parameters to generate a trajectory that has a minimum curvature change. For velocity generation, an interval of executing time is firstly generated to ensure a continuous velocity, continuous acceleration, bounded acceleration and side-slip avoidance at the target state. Then, the executing time that could avoid side-slip at every point is resolved by adjusting the time. Finally, the executing velocity of the trajectory at each point is generated based on the executing time. To verify the algorithm, trajectory generation based on real environment data and simulations on search space generation, driving on road and path tracking are conducted.
Citation statistics
Cited Times:20[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
陈成,何玉庆,卜春光,等. 基于四阶贝塞尔曲线的无人车可行轨迹规划[J]. 自动化学报,2015,41(3):486-496.
APA 陈成,何玉庆,卜春光,&韩建达.(2015).基于四阶贝塞尔曲线的无人车可行轨迹规划.自动化学报,41(3),486-496.
MLA 陈成,et al."基于四阶贝塞尔曲线的无人车可行轨迹规划".自动化学报 41.3(2015):486-496.
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