摘要：

为降低智能车导航中先验地图采集及事后路网数据处理的复杂度,利用多项式拟合的策略生成路口轨迹,同时提出基于经纬度和航向角的坐标系旋转方法,在拟合出路口轨迹后使用Dijkstra算法进行全局路径规划。以“京龙”智能车为实验平台采集路网数据进行测试。结果 表明,该拟合策略可在减小偏差的基础上实现全局路径规划功能,能够满足智能车的安全行驶要求。

关键词: 智能车, 路径规划, 多项式拟合, 坐标旋转, 先验地图

Abstract:

The polynomial fitting strategy is used to generate the intersection trajectory,so as to reduce the complexity of the prior map acquisition and the road network data processing in the intelligent vehicle navigation.In this process,a coordinate rotation method based on latitude,longitude and heading angle is proposed.After fitting the intersection trajectory,the Dijkstra algorithm is used for global path planning.Road network data is collected and the experiment is performed with “Beijing Dragon” intelligent vehicle as experimental platform.The results show that the fitting strategy mentioned in this paper has the small deviation and realize the global path planning function,which can meet the safe driving requirements of the intelligent vehicle.

Key words: intelligent vehicle, path planning, polynomial fitting, coordinate rotation, prior map

中图分类号: 

• TP301.6