Full
Outline
Aming at the challenges that trajectory planning and tracking control of autonomous vehicles struggle to respond to dynamic obstacles in real-time under urban road conditions and the insufficient robustness of complex traffic environments, this paper proposes a trajectory optimization method that integrates hierarchical planning and dynamic replanning. It first generates a coarse path using fast linear programming, then refines the path using an improved artificial potential field method and numerical optimization. A trajectory replanning module is designed to predict dynamic obstacle trends and adjust the path in real-time. Lateral control uses Model Predictive Control (MPC) based on the Frenet coordinate system, and longitudinal control uses a dual PID controller. Simulation results show that, in the straight-road static obstacle avoidance scenario, the proposed method starts obstacle avoidance approximately 45 m before reaching the obstacle. In the overtaking scenario, its speed fluctuation is about 5 km/h, lower than 17.5 km/h for GD-APF and 11 km/h for D-RRT. The lateral acceleration is mainly maintained within −1 to 1 m/s2. Moreover, the maximum lateral tracking error is 0.84 m, and the longitudinal speed error is controlled within 1 m/s. These results indicate that the proposed method achieves good comprehensive performance in path smoothness, dynamic obstacle avoidance, and trajectory tracking accuracy.
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| 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 |
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