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- 2017
一种新的自动驾驶轨迹规划方法
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Abstract:
提出了一种轨迹规划算法，该算法可以为自动驾驶生成舒适安全的轨迹，障碍物通过摄像头或车间通讯的协同感知消息（（CAM））和分散化环境通知消息（DENM）方式感知。该算法主要分为3个部分，首先由轨迹生成模块生成舒适的轨迹簇，其次由于传感器可能存在的误差，对其他交通车的位置和速度进行估计，最后由轨迹选择模块选择最适合的轨迹。为了帮助无人车做出决策，建立了碰撞概率模型。在MATLAB环境下的仿真证明了该算法安全可靠。
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