车辆自主避障的触须算法研究

摘要

Some final path decision may not be reasonable during an intelligent vehicle avoiding obstacle,therefore,a decision making system for path decision based on tentacle algorithm of obstacle avoidance of intelligent vehicle was presented.The final path decision based on this method is much better.Firstly,we builded a obstacle map.Then,we described the tentacle algorithm and showed a group of tentacle.Finally,the calculation of drivable area and the institution of the decision system which includes three variables were described.The results show that the three variables make the vehicle driving along the expected trajectory,which proves that the decision system is reliable and effective.%研究了一种基于触须算法的智能车避障方法。介绍了障碍物地图的建立、不同速度值下触须和可行驶区域的计算以及决策机制的实现。在Visual Studio 2008平台上,通过设立3个参量作为智能车路径规划的决策机制,使车辆在一个环形道路内行驶来验证系统的可行性,并依此分别给出了客观和直观的仿真结果。通过不同场景下仿真结果的对比,指出了决策机制中3个参量的作用与其意义相吻合,证明了所实现的智能车避障方法具有较高的可行性和实用性。