基于Vanet的无人驾驶动态路径规划算法研究

计算机工程与科学

基于Vanet的无人驾驶动态路径规划算法研究

曾鹏，万华森，王一霖

（昆明理工大学交通工程学院,云南昆明 650500）

收稿日期:2018-11-05 修回日期:2019-03-05 出版日期:2019-11-25 发布日期:2019-11-25
基金资助:
国家重点研发计划（2018YFB1600500）

An driverless dynamic path

planning algorithm based on Vanet

ZENG Peng，WAN Hua-sen,WANG Yi-lin

(School of Traffic Engineering,Kunming University of Science and Technology,Kunming 650500,China)

Received:2018-11-05 Revised:2019-03-05 Online:2019-11-25 Published:2019-11-25

摘要/Abstract

摘要：

随着智能交通的发展，无人驾驶成为未来颠覆传统出行的又一重要交通工具，为适应无人驾驶大规模复杂的交通环境，为无人驾驶导航规划提出了动态双向A*算法。车载自组网是未来无人驾驶的一个重要发展方向，为检验算法在车载自组网环境下的性能表现，采用OMNeT++与SUMO双向耦合，在开源框架Veins基础上进行联合仿真实验，证明在不同交通密度的交通状态中，在Vanet环境下动态双向A*算法相比在无Vanet环境下传统双向A*算法，能更有效地缩短行程时间，提高出行效率。

关键词: 无人驾驶, 动态路径规划, 双向耦合, 联合仿真, 行程时间

Abstract:

With the development of intelligent transportation, driverless is another important means that will utterly change traditional travels in the future. In order to adapt to the large-scale and complex traffic environment of driverless, we propose a dynamic bidirectional A* algorithm for driverless navigation planning. On the basis of this, theoretical simulations under different traffic flow conditions are realized, and the feasibility of the algorithm is verified. The vehicular self-organizing network is an important development direction of driverless in the future. In order to verify the performance of the algorithm in the vehicular self-organizing network environment, we adopt the OMNeT++ and SUMO bidirectional coupling, and perform joint simulation experiments on the open source framework Veins. In the traffic states with different traffic densities, the path planned by the dynamic bidirectional A* algorithm in the Vanet environment can reduce travel time and improve travel efficiency more effectively than that of the traditional bidirectional A* algorithm.

Key words: driverless, dynamic path planning, bidirectional coupling, joint simulation, travel time

曾鹏，万华森，王一霖. 基于Vanet的无人驾驶动态路径规划算法研究[J]. 计算机工程与科学.

ZENG Peng，WAN Hua-sen,WANG Yi-lin.

An driverless dynamic path

planning algorithm based on Vanet

[J]. Computer Engineering & Science.

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