高速公路环境下的智能决策、路径规划和车辆控制算法开发与验证
汽车轨迹规划技术是实现汽车智能辅助系统的关键技术之一，具有重要的研究价值和意义。汽车轨迹规划的目的是找到一条从初始点到目标点的安全轨迹，并满足所有约束条件。从轨迹规划的角度来看，汽车属于轮式机器人的一种，因此机器人领域的轨迹规划方法具有一定的借鉴意义。但是，与移动机器人相比，汽车轨迹规划问题具有很多不同。第一，汽车行车环境的主要参与物是车辆，速度较高，所以汽车轨迹规划是在高动态环境下的动态规划，并且每个规划周期的终点状态无法预知。第二，汽车行车环境多为结构化环境，车道线与道路边界线均为汽车轨迹规划的约 束。第 三，汽车转向几何关系必须满足Ackerman 转向约束，使得汽车本身为非完整约束系统，且由于汽车速度较高，车辆动力学特性对轨迹规划产生的影响也不可忽视。第四，汽车作为交通参与物的组成部分，规划轨迹必须满足交通法规的要求。提升无人驾驶车辆的行驶速度，研究在高速下的最优运动规划与控制，从而保证其安全性和稳定性，对无人驾驶技术的推广具有重要的现实意义。高速无人驾驶车辆的最优运动规划与控制具有很强的理论研究价值，其挑战性主要体现在以下三个方面。首先，车辆在高速行驶时的轨迹跟踪控制十分复杂，车辆在高速行驶时轮胎与地面摩擦引起的滑移和侧偏、车辆重心偏移引起的侧倾、以及道路曲率和地形等对车辆动力学特性的影响比常速时更加苛刻。其次，高速车辆的运动规划方法必须要考虑车辆的动力学特性，同时能在滑移、侧倾等复杂约束条件下规划出满足车辆有效避险且稳定行驶的运动轨迹。另外，规划算法要能在车辆有效避险与操控稳定性的目标发生冲突时优先确保车辆的无碰撞行驶轨迹。最后，高速无人驾驶车辆最优运动规划与控制算法的实时性比常速情况下要求更高，因此车辆的动力学建模必须在保证保证及时动态响应的前提下，充分考虑计算复杂性，研究更为合理的模型等效简化及离散化方法。本次演讲将展示系统级的自动驾驶仿真测试用以验证在不同驾驶场景下的智能决策、路径规划及车辆控制算法，了解如何设计高速路上的车道跟随以及车道变换的辅助驾驶算法。视频：，时长25:38课件：https://mp.toutiao.com/mp/agw/article_material/open_image/get?code=MmNlNDEwNzUyMDA4MDYwMmViYjE3ZmE2OTI5MzJlZDgsMTc4MTkzOTE3NTA3NQ==
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楼主太会说了，字字句句都在理 已转发给朋友，一起感受这份快乐～
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