温高博,吴光强

• 1:同济大学

摘要(Abstract)：

针对紧急转向避撞时多目标规划算法设计困难，且障碍物数量、位置复杂多变等情况，提出了一种采样与优化结合的分层决策规划算法。在结构化道路下考虑环境与运动学限制，使用变种A*算法建立周围环境势场并利用五次多项式计算运动学代价；根据粗轨迹建立行车通道，利用分段加加速度法解决二次规划问题，得到光滑路径以保证路径规划的舒适性，同时指引车辆回到道路中心。经仿真试验和实车测试结果表明：提出的方案能够根据不同障碍物的情况灵活完成决策规划任务，并实现紧急避撞。

关键词(KeyWords)：

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金项目（52075388）

作者(Author): 温高博,吴光强

DOI: 10.19620/j.cnki.1000-3703.20240160

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