基于中间速度的智能车辆梯形速度规划方法

Trapezoidal Speed Planning Method of Intelligent Vehicle Based on Intermediate Speed

针对智能车辆在自主行驶过程中遇到障碍物需要进行速度调整以及安全停车的情况,提出一种基于中间速度的梯形速度规划方法。将障碍物速度纳入车辆的速度规划过程中,并以提出的中间速度作为速度决策控制的参考量,实现车辆速度提前规划,同时保证规划结果的连续性,解决面对动态障碍物时速度规划结果存在波动的问题。在CarSim/Simulink联合仿真平台上的实验结果表明,该方法能够提高智能车辆行驶时速度的平稳性,并且对障碍物具有良好的适应性。

A speed planning method based on intermediate speed is proposed for intelligent vehicles to meet the need of speed planning and safe parking when facing obstacle during the process of autonomous driving. It introduces the speed of the vehicle obstacle into the planning process and takes the intermediate speed as reference quantity of speed control. By this way,the advance planning of vehicle speed is realized. Furthermore,it solves the problem of fluctuation of speed planning process when facing the dynamic obstacle. The proposed method is simulated on the CarSim/Simulink co-simulation platform,and the experimental results show that it can improve the speed stability of intelligent vehicle,and has good adaptability to the obstacle.