在传统的预瞄算法中,预瞄位置的确定需要大量坐标变换,影响运算速度；且通过线性插值计算预瞄点坐标和路径方向,会使预期路径方向在路径点处不连续,导致人-车-路闭环系统仿真出现振荡.为此,本文中提出一种无需坐标变换的圆弧预瞄位置确定算法,并通过三次埃尔米特插值实现对局部路径的光滑处理.仿真结果表明:该算法效果良好,运算速度较快；且采用三次埃尔米特插值代替线性插值,可有效缓解闭环系统仿真振荡.%In traditional preview algorithm, a great number of coordinate transformations are necessary to determine the preview location, lowering the computing speed; and the use of linear interpolation to calculate preview point coordinates and path orientation leads to discontinuity of preview path and oscillation of driver-vehicle-road closed-loop system in simulation. To solve these problems, an arc preview algorithm without coordinate transformations is proposed in this paper and the Hermite interpolation instead of linear one is used for smoothing local path. Simulation results show that the algorithm proposed is effective and much faster in computing speed, and using Hermite interpolation instead can effectively mitigate the oscillation of closed-loop system in simulation.
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