Real-Time Trajectory Planning for Autonomous Urban Driving: Framework, Algorithms, and Veriﬁcations

最新推荐文章于 2023-04-09 00:42:46 发布

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最新推荐文章于 2023-04-09 00:42:46 发布

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分类专栏： Unmanned vehicle 文章标签：深度学习计算机视觉算法

本文链接：https://blog.csdn.net/qq_42589654/article/details/105056417

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Real-Time Trajectory Planning for Autonomous Urban Driving: Framework, Algorithms, and Veriﬁcations

目的

generating dynamically feasible trajectories in real time with limited onboard computational resources;
dealing with the unpredictably changing surrounding environments with limited sensing range and visibility as well as the uncertainty and noise in the perception and localization systems;
3)interacting with other trafﬁc participants, such as vehicles, cyclists, and pedestrians

系统框架

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Sensors：感知系统和精确定位

结果如图，粉色为检测到的障碍，白线为地图上的数据

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we employ a nonlinear optimization approach to smoothen the centerline, then interpolate it using the cubic B-spline curve.
结果：光滑的线

为什么解耦成横向和纵向误差

As referred in [13], to mimic human-like driving behaviors in urban environments, the vehicle trajectory could be naturally decoupled into thelateralmovementandthelongitudinalmovement.

空间坐标、速度坐标基于曲线坐标系
the trajectory planning taskis decomposed into spatial path planning and velocity planning subtasks based on the curvilinear coordinate instead of the Cartesian coordinate

系统算法

the graph-search algorithm 图搜索算法找出无碰撞的参考路线

A、参考路径光滑和插值

the right boundary and left boundary of the desired lane
直接计算出参考路径，但不连续或者不光滑，不容易底层控制器的控制，
会使控制过载或震荡（ overshoots and oscillations）
急转弯时，会有很大的横向加速度

共轭梯度优化算法（ the conjugate gradient optimization method）
作用：使参考路线光滑
局部最优解：Like the other nonlinear optimization methods, the conjugate gradient algorithm only returns a local optimal solution.
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