Local path planning of bus based on RS-RRT algorithm

被引：0

作者：

Han X.-J. ^{[1
]}

Zhao W.-Q. ^{[1
]}

Chen L.-J. ^{[2
]}

Zheng H.-Y. ^{[1
]}

Liu Y. ^{[1
]}

Zong C.-F. ^{[1
]}

机构：

[1] State Key Laboratory of Automobile Simulation and Control, Jilin University, Changchun

[2] Big Data and Network Management Center, Jilin University, Changchun

来源：

Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2019年 / 49卷 / 05期

关键词：

Collision detection; Local path planning; Path smoothing; Regional-sampling; Vehicle engineering;

D O I：

10.13229/j.cnki.jdxbgxb20181089

中图分类号：

学科分类号：

摘要：

In order to solve the path planning problem of self-driving bus in the structured road environment, an improved path planning algorithm, named Regional-Sampling Rapidly-exploring Random Tree (RS-RRT) algorithm, was proposed for obstacle avoidance conditions. In the sampling phase, Gaussian distribution sampling and local biasing sampling were integrated to improve the search efficiency of the path planning algorithm. In the expansion phase of the random tree, considering the actual size of bus and obstacles, the Separating Axis Theorem (SAT) was used to detect the collision of bus and surrounding obstacles in real time. In the post-processing stage, considering the goal of safety and comfort,the driver's driving consensus, the safety distance model and path smoothing algorithm were combined to correct the planning path. In order to verify the effectiveness of the RS-RRT algorithm, the hardware-in-the-loop test bench of electro-hydraulic steering system for commercial vehicle was built. The simulation scenario was built by TruckSim, and the proposed algorithm was verified by the co-simulation software of MATLAB and TruckSim. The results show that compared with basic RRT and Goal-biasing RRT, the proposed RS-RRT algorithm has advantages in terms of number of nodes, path length and running time. The generated path can meet the dynamics and path tracking requirements of the bus. © 2019, Jilin University Press. All right reserved.

引用

页码：1428 / 1440

页数：12

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