基于微分平坦的分层轨迹规划算法

To fully consider the influence of transverse and longitudinal coupling and vehicle kinematics on trajectory planning, a hierarchical optimization鄄based trajectory planning algorithm framework is proposed. The safe corridor constraint is designed with the convex hull of a Bezier curve. Taking the trajectory smoothness as the objective function, we obtain a lower planner based on Bezier curve nodes. In the upper planner, based on the transverse and longitudinal Bezier curves solved by the lower planner and the differentially flat output of the vehicle kinematics model, the objective function meeting the vehicle ride comfort, efficiency and safety requirements is constructed, and quadratic optimization is applied to the initial parameters of the Bezier trajectory by particle swarm optimization algorithm to obtain the driving trajectory with the best comprehensive performance. The simulation results show that: the algorithm has good ride comfort and traceability while ensuring safety; due to the high efficiency of quadratic programming and particle swarm optimization, this framework has strong real鄄time and probabilistic completeness.