转向避撞工况下智能车辆的实时决策规划

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主题词：智能驾驶 图搜索 路径规划 转向避撞中图分类号：U461.91 文献标志码：A DOI：10.19620/j.cnki.1000-3703.20240160

Real-Time Decision and Planning Algorithm for Intelligent Vehicles under Steering Collision Avoidance

Wen Gaobo，Wu Guangqiang （Tongji University，Shanghai 201800）

【Abstract】Inviewof the difficultyindesigning multi-objective planning algorithms during emergencysteering for collisionavoidanceandthecomplexityandvariabilityof thenumberandlocationofobstacles，ahierarchicaldecision-making planning algorithmcombining samplingandoptimization isproposed.Considering environmental and kinematicconstraints under structured roads，a variant of the A* algorithm is used to establish the surrounding environmental potential field and compute the kinematiccostusingafifth-degree polynomial.Travellanesare establishedbasedonthecoarsetrajectories，and thequadratic planning problem is solved usingthe segmentation-plus-acceleration method toobtain smooth paths soas to ensurecomfortablepath planning，whileguidingthevehicleback tothecenteroftheroad.Theresultsofsimulationtestsand realvehicletestsshow thatthe proposed schemecan flexiblycomplete thedecision planning tasksacording todifferent obstacles and achieve emergency collsion avoidance.

KeyWords： Intelligent driving，Graph search，Path planning，Steering collision avoidance

【引用格式】温高博，吴光强.转向避撞工况下智能车辆的实时决策规划[J].汽车技术，2025（7）：13-22. WENGB，WUGQ.Real-TimeDecisionandPlanningAlgorithmforInteligent VehiclesunderSteeringCollsion Avoidance[J].Automobile Technology，2025（7）： 13-22.

1前言

转向避撞工况复杂多变，涉及障碍物、道路等多重因素，且对车辆实时决策规划要求极高。（剩余11896字）