中文摘要：

基于二自由度的智能车辆模型,研究了在不同转向盘转角和车速下,影响行车轨迹的因素。构建了基于行车轨迹的触须,对障碍物的避障算法进行了分析。根据三维和二维激光雷达测得的数据绘制512×512地图,实现智能车辆合理和自主避障。仿真和试验结果验证了模型和算法的有效性。

英文摘要：

Based on 2-DOF intelligent vehicle model,the factors affecting vehicle trajectory at different steering wheel angles and speeds are studied.Tentacles based on vehicle trajectory are constructed,and obstacle avoidance strategies are analyzed.512×512 maps are drawn based on the data obtained by 3D laser radar HDL and 2D laser radar LMS,and the rational and autonomous obstacle avoidance of intelligent vehicle are realized.The results of simulation and tests verify the validity of the model and algorithm used.