Home Journals Articles Updates About
CN
image
收藏切换
Spatio-Temporal Unified Planning Method for Intelligent Vehicles on Structured Road
收藏切换
PDF
Jie Hu1, 2, 3, Jiachen Zheng1, 2, 3, Silong Zhou1, 2, 3, Wenlong Zhao1, 2, 3, Zhiling Zhang1, 2, 3, Maojia Yao1, 2, 3
Automotive Engineering | 2025, 47(5) : 820 - 828
Less
收藏切换
Automotive Engineering | 2025, 47(5): 820-828
• Papers •
Spatio-Temporal Unified Planning Method for Intelligent Vehicles on Structured Road
Full
Jie Hu1, 2, 3, Jiachen Zheng1, 2, 3, Silong Zhou1, 2, 3, Wenlong Zhao1, 2, 3, Zhiling Zhang1, 2, 3, Maojia Yao1, 2, 3
Affiliations
  • 1 Wuhan University of Technology，Hubei Key Laboratory of Modern Auto Parts Technology，Wuhan 430070
  • 2 Wuhan University of Technology，Auto Parts Technology Hubei Collaborative Innovation Center，Wuhan 430070
  • 3 Hubei Technology Research Center of New Energy and Intelligent Connected Vehicle Engineering，Wuhan 430070
Published: 2025-05-25 doi: 10.19562/j.chinasae.qcgc.2025.05.003
Outline
收藏切换

For the problem that the spatiotemporal separation trajectory planning method used in autonomous vehicles is prone to insufficient vehicle flexibility, and even cannot generate feasible trajectories under complex working conditions, while the existing spatiotemporal unified trajectory planning method is difficult to meet the requirements of structured road application, a spatiotemporal unified planning method based on dynamic programming and numerical optimization algorithm is proposed. Firstly, the spatiotemporal unified coarse trajectory is generated by dynamic programming algorithm in Frenet coordinate system. In the process, deterministic sampling method is used to expand the child nodes. Then, taking the coarse trajectory as reference, the feasible spatiotemporal corridor is constructed in Cartesian coordinate system, and the NMPC optimization model is established to generate the final trajectory. Finally, the algorithm is verified by simulation. The results show that the proposed algorism has good adaptability to structured road, and can better balance the requirements of traffic efficiency, trajectory comfort and time consumption than other spatiotemporal unified algorithms.

spatio-temporal unified planning  /  dynamic planning  /  deterministic sampling  /  feasible spatio-temporal corridor  /  NMPC optimization
Jie Hu, Jiachen Zheng, Silong Zhou, Wenlong Zhao, Zhiling Zhang, Maojia Yao. Spatio-Temporal Unified Planning Method for Intelligent Vehicles on Structured Road[J]. Automotive Engineering, 2025 , 47 (5) : 820 -828 . DOI: 10.19562/j.chinasae.qcgc.2025.05.003
Appendix
Less
Year 2025 volume 47 Issue 5
PDF
784
199
Cite this Article
BibTeX
Article Info
doi: 10.19562/j.chinasae.qcgc.2025.05.003
  • Receive Date：2024-10-16
  • Online Date：2025-07-08
  • Published：2025-05-25
Article Data
Affiliations
History
  • Received：2024-10-16
  • Revised：2024-12-10
Funding
Affiliations
    1 Wuhan University of Technology，Hubei Key Laboratory of Modern Auto Parts Technology，Wuhan 430070
    2 Wuhan University of Technology，Auto Parts Technology Hubei Collaborative Innovation Center，Wuhan 430070
    3 Hubei Technology Research Center of New Energy and Intelligent Connected Vehicle Engineering，Wuhan 430070
References
Share
https://castjournals.cast.org.cn/joweb/qcygc/EN/10.19562/j.chinasae.qcgc.2025.05.003
Share to
QR

Scan QR to access full text

Cite this article
BibTeX
Citations
表12种不同金属材料的力学参数
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
  • BibTeX
  • EndNote
  • RefWorks
  • TxT
Links
Articles
Latest Articles
Most Read
Collections
Updates
Events
News
Multimedia
About
About Us
Contact
No. 86 Xueyuan South Road, Haidian District, Beijing
100081
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