基于贝塞尔曲线的自动驾驶汽车避障路径规划

Obstacle-Avoidance Path Planning for Autonomous Vehicles Based on Bezier Curves

针对自动驾驶汽车在实际行驶过程中遇到的避障路径规划问题,基于3次贝塞尔曲线建立了避障规划路径,将避障路径分为避撞路径与变道路径,分别由2段3次贝塞尔曲线构成。为简化算法只规划避撞路径,变道路径由避撞路径曲线旋转而成。另外考虑到避障时存在车辆轮胎滑移与侧向风等不确定因素,建立了安全距离模型。最后进行仿真验证,规划出来的避障路径易于车辆跟踪,且满足车辆行驶安全性和舒适性。

Aiming at the problem of obstacle avoidance path planning encountered by autonomous driving vehicles in the actual driving process,the obstacle avoidance planning path is established based on cubic Bezier curve in this paper.The obstacle avoidance path is divided into collision avoidance path and lane change path,which are respectively composed of two cubic Bezier curves.In order to simplify the algorithm,only collision avoidance path is planned in this paper and lane change path is rotated by the curve of collision avoidance path.In addition,considering the uncertain factors such as tire slip and lateral wind,the safety distance model is established.Simulation results show that the planned obstacle avoidance path is easy to track and meets the vehicle safety and comfort.