基于四阶贝塞尔曲线的应急救援车辆轨迹规划方法

doi:10.3901/JME.2025.02.198

摘要/Abstract

摘要： 为确保应急救援车辆的行驶安全性、舒适性、稳定性以及高机动性，同时针对应急救援车辆所具有的车宽大、重心高、转弯半径大等实际特征，提出一种基于三维-分段式四阶贝塞尔曲线的应急救援车辆轨迹规划方法。将车速信息视为对应轨迹坐标的垂向坐标，采用三维贝塞尔曲线进行车辆轨迹规划，从而同时实现轨迹规划和车速规划且将车速信息与车辆轨迹坐标一一对应。同时，为实现轨迹规划中多个优化目标与车辆智能驾驶实际需求的有效贴合，采用分段式贝塞尔曲线设计车辆轨迹，将车辆轨迹分为避撞过程和回正过程，从而实现车辆轨迹设计目标的动态优化。结果表明，所提出的基于三维-分段式四阶贝塞尔曲线的轨迹规划方法可在确保车辆安全、舒适、稳定性设计目标的同时，有效提高轨迹规划机动性，提升换道效率，降低换道时间。

关键词: 智能车辆, 轨迹规划, 贝塞尔曲线, 目标优化

Abstract: In order to ensure the driving safety, comfort, stability and high mobility of emergency rescue vehicles, at the same time, according to the actual characteristics of emergency rescue vehicles like large vehicle width, high center of gravity, large turning radius, a trajectory planning method of emergency rescue vehicle based on three-dimensional segmented fourth-order Bezier curve is proposed. The vehicle speed information is regarded as the vertical coordinates of the corresponding trajectory coordinates, and the three-dimensional Bezier curve is used for vehicle trajectory planning, so as to realize trajectory planning and vehicle speed planning at the same time, and the vehicle speed information is corresponding to the vehicle trajectory coordinates one by one. In addition, in order to realize the effective fit between multiple optimization objectives in trajectory planning and the actual needs of vehicle intelligent driving, the segmented Bezier curve is used to design the vehicle trajectory, and the vehicle trajectory is divided into collision avoidance process and correction process, so as to realize the dynamic optimization of vehicle trajectory design objectives. The results show that the proposed trajectory planning method based on three-dimensional segmented fourth-order Bezier curve can effectively improve the mobility of trajectory planning, improve lane changing efficiency and reduce lane changing time while ensuring the design objectives of vehicle safety, comfort and stability.

Key words: intelligent vehicle, trajectory planning, Bezier curves, objective optimization

中图分类号:

陈特, 蔡英凤, 陈龙, 徐兴. 基于四阶贝塞尔曲线的应急救援车辆轨迹规划方法[J]. 机械工程学报, 2025, 61(2): 198-209.

CHEN Te, CAI Yingfeng, CHEN Long, XU Xing. Trajectory Planning Method of Emergency Rescue Vehicle Based on Fourth-order Bezier Curve[J]. Journal of Mechanical Engineering, 2025, 61(2): 198-209.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.2025.02.198

http://www.cjmenet.com.cn/CN/Y2025/V61/I2/198

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