摘要
作为自动驾驶车辆的重要组成部分,轨迹规划是影响自动驾驶智能化水平的关键。综述10年来智能驾驶车辆轨迹规划方法并将这些算法分为基于图搜索、基于采样、基于数学优化、曲线插值和机器学习5类。针对每类算法进行了阐述,阐述算法在实际场景中的应用并分析了其优缺点。最后指出了目前依然存在的问题和挑战,并总结了未来研究发展方向。
As an important part of automated driving vehicles,trajectory planning is the key to affecting the level of unmanned intelligence.The trajectory planning methods of automated driving vehicles in the past 10 years are summarized and classified into 5 categories:graph search,sampling,mathematical optimization,curve interpolation and machine learning.Each kind of algorithm is described in detail,the application of the algorithm in the actual scene is elaborated and its advantages and disadvantages are analyzed.Finally,the existing problems and challenges are pointed out,and the future research directions are briefly analyzed.
作者
吕贵林
高洪伟
陈涛
田鹤
韩爽
Lü Guilin;Gao Hongwei;Chen Tao;Tian He;Han Shuang(Global R&D Center,China FAW Corporation Limited,Changchun 130013)
出处
《汽车文摘》
2023年第7期24-35,共12页
Automotive Digest
关键词
轨迹规划
路径规划
自动驾驶
Trajectory planning
Path planning
Automated driving
