Trajectory Planning Method of Emergency Rescue Vehicle Based on Fourth-order Bezier Curve

doi:10.3901/JME.2025.02.198

Abstract

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

CLC Number:

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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