Research on path planning and trajectory tracking based on B-spline
In order to meet the characteristics of local path planning and lane change paths and improve the path tracking accuracy and stability of intelligent driving vehicles under various variable curvature conditions,the methods under the conditions of path planning and lane change such as Bezier curve and B-spline were used to analyze four types of path tracking algorithms based on MATLAB under the paths of circular trajectory,8-shapde trajectory,S-shaped trajectory and sinusoidal trajectory,respectively,and the most reasonable B-spline path planning and tracking algorithm was obtained.The results showed that the curvature of the B-spline algorithm at the lane change point and the parallel point was 0,which met the requirements of the lane change condition.The MPC algorithm had an average error of about 48.6%smaller than that of other algorithms under the sinusoidal trajectory and about 84%smaller than the average error of other algorithms under the circular trajectory,and the results showed that the algorithm had good tracking performance under a variety of trajectories.This research could ensure the safety and stability of intelligent driving vehicles to a certain extent,and provides a basis for future research on path planning and trajectory tracking control of intelligent vehicles.
NETL
NSTL
万方数据
