智能车辆轨迹规划和控制算法分析.docx

Abstract
As the crystallization of the science and technology achievements of human society, intelligent vehicle condenses the many science and technology such as artificial intelligence, automatic control puter. The development of intelligent vehicle is the embodiment of the present scientific research strength of a country. It has a very wide range of applications, including military, logistics, and intelligent transportation field and so on.
In intelligent transportation field, on the one hand , its application can alleviate traffic congestion problems caused by the rapid social development, and achieve the purpose of energy conservation and environmental protection. On the other hand, it can reduce the driver's mental and physical pressure, assist the driver to avoid risky behaviors in the driving process, instead of the driver's own traveling, improve road capacity and reduce traffic accidents.
Intelligent vehicle itself is prehensive system including environment perception, planning and control,early warning, and other functions. Based on intelligent vehicle motion planning and control functions, the paper researches the
aspects of intelligent vehicle trajectory planning and intelligent vehicle parking control.
Intelligent Vehicle trajectory planning belongs to the research contents of intelligent vehicle decision making and control module. Trajectory planning is on the basis of the intelligent vehicle path planning, using intelligent vehicle previously collected information include road alignment, intelligent vehicle position, intelligent vehicle expect position and other information, to plan desired trajectory of current vehicle by the planning curve. Intelligent vehicle trajectory planning aims to provide local smooth continuous trajectory. Through the analysis
of the differential flatness of intelligent vehicle kinematics model,the paper
presents a quintic polynomial parametric curve trajectory planning pares with B-spline curve, verifies this curve