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首页> 外文期刊>Proceedings of the institution of mechanical engineers >Two-phase optimal path planning of autonomous ground vehicles using pseudo-spectral method
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Two-phase optimal path planning of autonomous ground vehicles using pseudo-spectral method

机译：基于伪谱方法的自主地面车辆两阶段最优路径规划

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摘要

In this paper, an optimal path-planning method is proposed for autonomous ground vehicles in case of overtaking a moving obstacle by the application of a two-phase optimal-control problem. When the autonomous vehicle detects a moving vehicle in a proper speed and distance ahead, it decides to overtake the obstacle by executing a double-lane change manoeuvre. The path for the overtaking manoeuvre is generated by a two-phase optimal path-planning problem. The cost function of the first phase is defined in such a way that the vehicle approaches the obstacle as close as possible. In the second phase, the cost function is defined as sum of the vehicle lateral deviation from the reference path and the rate of steering angle. At the same time, the lateral acceleration of the vehicle must not exceed a specified limit. The radio pseudo-spectral method, which is a method for direct trajectory optimization using global collocation at Legendre-Gauss-Radau points, is applied for solving the two-phase nonlinear optimal-control problem. A full nonlinear vehicle model in CarSim software is used for path-tracking simulation by importing path data from a MATLAB code. The simulation results show that the generated path for the autonomous vehicle satisfies all vehicle-dynamics constraints and hence is applicable for a real autonomous vehicle.
机译：提出了一种通过两相最优控制问题克服移动障碍物的自主地面车辆最优路径规划方法。当自动驾驶车辆以适当的速度和距离检测到行驶中的车辆时，它会通过执行双车道变更操作来决定越过障碍物。超车机动的路径是由两阶段最优路径规划问题生成的。定义第一阶段的成本函数，以使车辆尽可能接近障碍物。在第二阶段，成本函数定义为车辆相对于参考路径的横向偏差与转向角比率之和。同时，车辆的横向加速度不得超过规定的极限。无线电伪谱法是解决Legendre-Gauss-Radau点的全局配向的直接轨迹优化方法，用于解决两相非线性最优控制问题。通过从MATLAB代码导入路径数据，将CarSim软件中的完整非线性车辆模型用于路径跟踪仿真。仿真结果表明，自动驾驶汽车的生成路径满足了所有的汽车动力学约束，因此适用于实际的自动驾驶汽车。

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