A Vehicle Obstacle Avoidance Trajectory Planning Method Based on Gaussian Pseudospectral Method

A Gaussian pseudospectral method and trajectory planning technology, applied in the field of vehicle obstacle avoidance trajectory planning, can solve problems such as uneven paths, excessive changes in path curvature, and inability to learn flexibility, etc., to achieve the effect of compensating for complex calculations and fast solution speed
CN111381597BActive Publication Date: 2021-08-03JILIN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
JILIN UNIV
Publication Date
2021-08-03

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Abstract

The invention belongs to the technical field of vehicle obstacle avoidance trajectory planning, in particular to a vehicle obstacle avoidance trajectory planning method based on the Gaussian pseudospectral method; It is an optimal control problem, which includes vehicle kinematics and dynamics constraints, initial and final state constraints and path constraints, with the optimal obstacle avoidance time as the performance index, and then, based on the Gaussian pseudospectral method, the optimal control problem Carry out discretization processing to transform it into a nonlinear programming problem satisfying constraints, and obtain the optimal obstacle avoidance trajectory by solving the nonlinear programming problem.
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Description

technical field

[0001] The invention belongs to the technical field of vehicle obstacle avoidance trajectory planning, in particular to a vehicle obstacle avoidance trajectory planning method based on a Gaussian pseudospectral method. Background technique

[0002] At present, with the continuous increase of car ownership, there are a series of urgent problems such as road congestion and frequent traffic accidents. Among them, vehicle collisions cause a considerable proportion of major traffic accidents. Therefore, obstacle avoidance trajectory planning As a key part of self-driving vehicles, it has received a lot of attention and in-depth research from the academic community.

[0003] At present, the artificial potential field method and the virtual force field method are two traditional methods for obstacle avoidance trajectory planning. Among them, the trajectory planned by the artificial potential field method is smooth and safe. However, this algorithm is easy to fall in...

Claims

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