考虑附着系数的智能汽车时空轨迹规划OA

To improve the safety of intelligent vehicles under different road adhesion conditions,this paper proposes a 3D spatiotemporal elastic band trajectory optimization method that integrates the road adhesion coefficient.First,a semantic spatiotemporal graph was developed to generate collision-free corridors in the 3D spatiotemporal coordinate system.The corridor boundaries were adaptively tightened or relaxed according to the road adhesion coefficient to ensure vehicle handling stability.Then,the trajectory optimization was formulated as a multi-objective sparse factor graph optimization model,whose cost terms include dynamic constraints,lateral acceleration,minimum turning radius,and avoidance costs for both static and dynamic obstacles.Finally,the model was efficiently solved using a sparse graph optimizer,producing executable sequences of velocity,pose,and acceleration.Joint simulation results show the proposed method provides higher conservativeness and safety margins under low-adhesion conditions and maintains online planning performance at the milliseconds level,meeting the requirements for real-time deployment.