基于协调规划的智能车辆导航和避障控制研究

Research on Control of Navigation and Obstacle Avoidance for Intelligent Vehicles Based on Programming in Line

针对智能车辆控制体系的现有不足,提出了一种基于协调规划控制的新颖控制体系结构,将传统的基于人工智能车辆模型的方法和基于行为的方法进行优势互补。文中具体描述了协调规划控制的过程,它集数据融合、路径规划和跟踪控制于一体。通过仿真实验证明该控制系统使智能车辆具备良好的学习能力、较快的响应速度,同时具有正确的判断力和完成给定任务的能力。

According to the deficiency of control system of intelligent vehicles, a novel control system based on programming in line was offered. It blended traditional method based on artificial intelligence model with the method based on behavior. The progress of programming in line was depicted in detail, It gathered data fusion, path planning and tracking control. The simulation results show better learning-ability and quicker response with this control system for intelligent vehicles. It also illustrates intelligent vehicles have proper judgment and the ability to accomplish the given mission.