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基于贝塞尔曲线的智能汽车避障轨迹规划方法研究 被引量:1
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作者 曹昌盛 曹昊天 《电子技术应用》 2024年第2期17-22,共6页
开展了一种基于贝塞尔曲线的智能汽车避障局部轨迹规划,即路径规划和速度规划方法研究。路径规划时,为了适应各种形状道路,将道路笛卡尔坐标转换为Frénet坐标,以路径的长度、曲率和连续性,以及车辆碰撞风险为代价函数,其中引入危... 开展了一种基于贝塞尔曲线的智能汽车避障局部轨迹规划,即路径规划和速度规划方法研究。路径规划时,为了适应各种形状道路,将道路笛卡尔坐标转换为Frénet坐标,以路径的长度、曲率和连续性,以及车辆碰撞风险为代价函数,其中引入危险势场理论,描述车辆碰撞风险,并采用序列二次规划方法来求解路径规划这一非线性优化问题;速度规划时,以行车效率和舒适性为目标,实现速度规划,该方法可以通过调整各子目标函数的权重来满足不同驾驶需求。为了验证基于贝塞尔曲线轨迹规划算法的有效性,设计了直道和弯道上静态和动态避障场景的仿真实验,结果表明,提出的轨迹规划方法能够在各种形状道路上完成避障任务,且避障过程中车辆状态变化平稳,能够保证乘坐舒适性。 展开更多
关键词 智能汽车 贝塞尔曲线 危险势场 避障 局部轨迹规划
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The Application of GNSS to Fault Deformation Studies
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作者 Bo Wanju Feng Shengtao +4 位作者 Su Jianfeng Zhou Haitao Du Xuesong Wan Wenni Liu Tianhai 《Earthquake Research in China》 2014年第4期510-519,共10页
Great earthquakes often occur along or near active fault belts. Thus,monitoring and research on fault deformation are quite important. Methods such as short-leveling,shortbaseline and integrated monitoring profile acr... Great earthquakes often occur along or near active fault belts. Thus,monitoring and research on fault deformation are quite important. Methods such as short-leveling,shortbaseline and integrated monitoring profile across fault belts have been used to monitor fault activities for many years. GNSS observations are mainly used to obtain the horizontal velocity field in large areas and to study the activities and deformation of major blocks.GNSS technology has been used to monitor and study the deformation of faults from a different aspects. In this paper,some applications and new explorations of GNSS are discussed. They are:( 1) Research and monitoring of strike-slip activities of faults with GNSS.( 2) Research and monitoring of vertical activities of faults with GNSS.( 3)Investigating the laws of deformation of blocks on the sides of fault zone and setting up strain models to deduce the activities and deformation of faults with respective models and compare the deduced results with the actual measurements across fault. It is concluded that a larger discrepancy between the deduced and the observed deformation indicates a stronger interaction between the blocks,which can be important for predicting the location of a strong earthquake and assessing seismic hazard,as well as the seismicity trend. 展开更多
关键词 GNSS Fault deformation BASELINE LEVELING SEISMICITY Crust block
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