摘要：

斯坦利方法对扰动的鲁棒性较差,且易在路径跟踪时产生较大偏差。为此,提出一种改进的斯坦利路径跟踪方法。利用自动驾驶车的惯性导航系统收集路网数据,建立一张高精度的道路地图。使用A*算法进行路径规划,得到有效的路径信息。根据车速与注视点之间的对数关 系,计算出前视点的位置,并将前视点作为斯坦利路径跟踪的目标点。实验结果表明,与斯坦利方法相比,该方法路径跟踪的横向偏差降低了20%。

关键词: 斯坦利方法, 路径跟踪, 高精度地图, 自动驾驶, 路径规划

Abstract:

The Stanley method is less robust to disturbances and tends to produce larger deviations in path tracking.In order to solve this problem,an improved Stanley path tracking method is proposed.Road network data collected by the inertial navigation system of autonomous vehicles are used to build a high-precision road map.In order to get effective path information,A-Star algorithm has been chosen for path planning.The position of the look-ahead points are calculated by the logarithmic relationship between the vehicle speed and the fixation points,the look-ahead points are taken as the target points for the Stanley method.Experimental results show that the lateral deviation of path tracking of this method is reduced by 20% as compared with the Stanley method.

Key words: Stanley method, path tracking, high precision map, automatic driving, path planning

中图分类号: 

• TP391