面向自主车辆的局部路径规划仿真系统

The Simulation System for the Local Path Planning of the Autonomous Vehicle

地面自主车辆研究是当今一个研究热点。由于地面自主车辆运行在户外复杂环境中 ,因此对仿真系统的研究非常重要。该文介绍了面向室外非结构环境下的自主车辆局部路径规划虚实混合仿真系统 ,该系统由基于真实环境的二维仿真、算法跟踪调试系统 ,及用于算法研究的三维虚拟仿真系统组成 ,采用VC + + 6 .0实现。通过将真实系统实际运行数据与仿真环境结合 ,为自主车辆的研究与开发提供更好、更真实的仿真环境 ,并在自主车辆的研究与系统联调中发挥了良好的作用。

Research on Autonomous Land Vehicle(ALV) is a main subject nowadays. Because the vehicle works in the complex outdoor environment,it is very important to study and manipulate the simulation system. The mixed virtual reality simulation structure for the local path planning of the autonomous vehicles in the outdoor unstructured environment was introduced. The system consists of the 2-D simulation based on real environment, algorithm tracing and debugging system, and the 3-D virtual simulation system.It is carried out by Visual C++ 6.0 for the study of the algorithm. By combination of real data from the real system with the virtual simulation system, a much better simulation environment can be supplied for the study and development of autonomous vehicles.