无人驾驶车辆自动避障路径规划仿真研究

摘要

This study focuses on the problem of avoiding obstacles to plan vehicles path in a fixed space.According to the performance of the automated vehicle,this paper utilizes a Proportional Integral Differential (PID) controller to complete the self-regulation of the automated vehicles in the procedure of driving.Based on the simulation of driving control of automated vehicle,we proposed a method to solve the problem of obstacles avoidance under the background of two dimensional and three dimensional.Based on MAKLINK graph theory and simulation theory,the path planning space models for 2D and 3D obstacle avoidance were established.Then the path planning algorithms was put forward by this paper,the simulation results indicate that the problems of obstacles avoidance can be solved effectively.%研究无人驾驶车辆的避障路径规划,可以为无人驾驶车辆规划最优避障路径,并控制车辆的速度和转向,从而使车辆能够安全、可靠地在道路上依照规划路径自主驾驶.研究难点在于无人驾驶车辆的行驶控制与避障路径的高效搜索两个技术关键点.针对无人驾驶车辆的行驶控制,根据无人驾驶车辆的性能进行仿真设定,利用PID控制器提出一种仿真控制方法,完成无人驾驶车辆的行驶控制.针对避障路径的搜索,在车辆有效行驶控制的基础上,依据MAKLINK图论与仿真原理,提出一种分别在二维、三维空间上实现避障路径规划的高效搜索算法.根据仿真结果,有效地完成了车辆行驶控制和避障路径规划,较好地解决了无人驾驶车辆避障规划的关键技术问题,可为无人驾驶车辆的避障行驶提供一定的技术指导.