基于车辆稳态动力学特性的汽车动态轨迹规划

针对高动态环境下驾驶辅助系统（ADAS）的轨迹规划问题，提出基于车辆稳态动力学特性的动态轨迹规划算法。该算法首先在交通车轨迹预估基础上建立搜索空间，接着利用车辆稳态动力学模型作为轨迹发生器，在搜索空间中对轨迹发生器产生的轨迹进行评价，最后根据驾驶意图和优化条件选择最优轨迹。文章采用基于最优加速度预瞄理论的轨迹跟踪算法，建立了七自由度车辆动力学模型，并在Simulink环境下搭建仿真平台，进行超车仿真实验。实验结果表明，本文提出的算法可行、有效。

Dynamic trajectory planning based on vehicle steady dynamics

A dynamic trajectory planning algorithm based on vehicle steady-state dynamics for driver assistance systems (ADAS) under high dynamic environment is proposed. The algorithm built a 'search space' on the basis of traffic vehicle trajectory prediction and used the vehicle steady-state kinetic model as a trajectory generator. Every trajectory produced by the generator was evaluated in the search space and the optimal trajectory under optimal conditions was selected. In order to realize the closed-loop dynamic simulation, the corresponded trajectory tracking algorithms and vehicle dynamics model were also proposed. A simulation platform under Simulink environment was built for simulation tests. The results show that in the intelligent overtaking test case, the proposed algorithm is able to overtake safely and to meet the needs of intelligent assistance systems.