Research on the motion trajectory optimization method based on the improved genetic algorithm for an intelligent vehicle
Aijuan Li, Wanzhong Zhao, Shunming Li, Xuyun Qiu, Xibo Wang · Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering · 2016
The motion trajectory optimization method for an intelligent vehicle in the planning and control of the trajectory of an intelligent vehicle under high-speed driving working conditions is difficult to research. In order to ensure that the intelligent vehicle runs steadily under high-speed driving working conditions, an improved-genetic-algorithm-based motion trajectory-planning method was introduced to optimize the generated trajectory. The trajectory optimization method considers the influence of the dynamic constraints to ensure that the vehicle runs steadily under high-speed driving working conditions. First, a B-spline curve is used to parameterize the generated trajectory. Then, the improved genetic algorithm is used to optimize the parameters of the B-spline curve so that the parameterized trajectory satisfies the dynamic constraints and so that the optimized trajectory is feasible. The simulation results showed that the optimized trajectory satisfies the dynamic constraints better, that the optimized effect is effective and that the vehicle steers steadily under high-speed driving working conditions.