PDF
Full
Outline
To address the challenge of determining control point locations in the cubic Bspline curve algorithm for intelligent vehicle lanechange trajectory planning, an optimization method based on NSGAII was proposed. Lanechanging trajectories for intelligent vehicles were planned using cubic Bspline curves. Under low, medium, and highspeed conditions, the NSGAII multiobjective optimization algorithm was applied to optimize the control point positions of these trajectories. The optimization focused on two key objectives, i.e. minimizing the length of lanechanging trajectories and reducing the average curvature of the trajectories. To verify the feasibility of the optimized trajectory, both simulations and realvehicle tests were conducted. The results show that the mean curvature and trajectory length are reduced after optimization under three different speed conditions. Specifically, the longitudinal displacement and mean curvature are reduced by 12.5% and 12%, 12.5% and 40%, 8.3% and 15.4% for low, medium and high speeds, respectively. In the cosimulation scenario, the optimized trajectory tracking shows a maximum lateral error of less than 0.1 m under low and medium speeds of 10 m/s and 20 m/s, respectively. At high speed of 30 m/s, the maximum lateral error remains below 0.3 m. In the real vehicle tests, the maximum lateral error before optimization is approximately 0.5 m. After optimization, this error is reduced to under 0.4 m, reflecting an improvement of over 20%.
PDF
315
130
| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
关闭全屏
No. 86 Xueyuan South Road, Haidian District, Beijing
010-62199257
qkjq@cast.org.cn
Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House
