The invention relates to a Dubins curve-based vehicle steering path planning method, which comprises the following steps of: S1, acquiring a starting point coordinate and an ending point coordinate when a vehicle is about to steer, acquiring a turning radius and calculating a theoretical front wheel turning angle and a theoretical steering wheel turning angle; s2, planning a shortest turning path based on a Dubins curve, and displaying the shortest turning path to a driver; and S3, when the driver controls the vehicle to steer according to the shortest turning path, judging whether the actual steering wheel turning angle is deviated from the theoretical steering wheel turning angle or not, and if so, sending an instruction to remind the driver to adjust the direction until the actual steering wheel turning angle is consistent with the theoretical steering wheel turning angle. According to the method, the situation that the posture of the vehicle is adjusted through multiple times of braking, accelerating and reversing due to inaccurate judgment of a driver is avoided, and the efficiency of a vehicle engine and the turning safety are improved. The flexibility of vehicle turning and the economical efficiency of energy utilization are both considered.
本发明涉及一种基于Dubins曲线的车辆转向路径规划方法,包括:S1、获取车辆即将转向时的起始点坐标和终止点坐标,获取转弯半径并计算理论前轮转角和理论方向盘转角;S2、基于Dubins曲线规划最短转弯路径,将最短转弯路径显示给驾驶员;S3、当驾驶员控制车辆按照最短转弯路径转向时,判断实际方向盘转角与理论方向盘转角是否存在偏差,如果存在偏差,发出指示提醒驾驶员调整方向,直到实际方向盘转角与理论方向盘转角保持一致。本发明方法避免了因为驾驶员的判断不够准确而多次制动、加速、倒车来调整车辆姿态,提高了车辆发动机的效率与转弯行驶的安全性。兼顾车辆转弯的灵活性与能源利用的经济性。
Vehicle steering path planning method based on Dubins curve
基于Dubins曲线的车辆转向路径规划方法
2022-06-10
Patent
Electronic Resource
Chinese
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