Author: Cheng Chen 1 , Yuqing He 2 , Chunguang Bu 2 , Jianda Han 2 , and Xuebo Zhang 3
Publisher: ICRA
Publish year: 2014
Editor: 柯西

Abstract/摘要

Instruction/介绍

IV. T RAJECTORY G ENERATION A LGORITHM

为了简化轨迹生成，将速度和转向解耦，速度和时间线性相关，曲率与行驶距离相关

Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图4Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图5

B. Trajectory Parameterization

为了简化数学推导，首先对车辆状态进行旋转和平移，Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图6.四阶贝塞尔被参数化为满足起始和目标状态。

  1. Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图7:轨迹初始状态设Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图8,假设Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图9,确定初始朝向Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图10根据公式(2)，初始曲率需满足Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图11
  2. Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图12:终点位置Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图13,假设Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图14,则

Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图15

  1. 综上一共三个待优化参数Quartic Bézier Curve based Trajectory Generation for Autonomous Vehicles with Curvature and Velocity Constraints* - 图16