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中文摘要：
面向非结构化环境下的自主车辆导航,为解决其中的轨迹规划问题,提出一种基于初始状态与目标状态约束的圆弧拼接方法。在此基础上考虑障碍物约束,基于自上而下的细分方法实现多段圆弧的连接,得到可行的轨迹系列。基于本文所提出的优化指标对轨迹系列进行评价,得到适合车辆运动的期望轨迹。结果表明：得到的轨迹具有光滑的曲率特性,适合车辆实际控制。该方法既融合车辆的运动特性,同时满足自主驾驶的实时性需求,适合实际车辆自主导航应用。
英文摘要：
To resolve this question of trajectory planning for autonomous land vehicle in unstructured environments,a novel algorithm for a feasible trajectory was proposed.Considering the obstacle restriction in real environments,an up-down decomposing method was proposed,resulting in a series of feasible trajectory.Based on a proposed optimization function,an optimal trajectory was gotten for the real vehicle driving.The results show that the proposed algorithm can solve the restrictions of the initial state and the final state of the vehicle,get a smoothed trajectory,which is suitable for vehicle driving.The proposed method can meet the need of autonomous land vehicle when driving in unstructured environments.
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