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The hybrid A* algorithm of automated driving vehicles runs quickly, but it is difficult to ensure the continuity of curvature and comfort of vehicles, and can not guarantee the optimized results without collision. Aiming at the above problems, this paper aims to improve the comfort of vehicles, and optimize A* algorithm based on minimum impact. Algorithm pre-study in MATLAB and raster map is conducted to solve the problem of insufficient comfort during the motion of automated driving vehicles in low-speed scenarios. Then, the optimization algorithm is improved to ensure the safety of vehicles for the problem that the optimization algorithm may lead to trajectory collision, and the strategy of automatic adjustment of the “corridor” is given. The simulation results show that the optimized trajectory is collision-free and the curvature of the trajectory is smaller, and the acceleration does not exceed the normal range, which can meet the normal driving requirements.
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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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