吕贵林,高洪伟,陈涛,田鹤,韩爽

• 1:中国第一汽车股份有限公司研发总院

摘要(Abstract)：

作为自动驾驶车辆的重要组成部分，轨迹规划是影响自动驾驶智能化水平的关键。综述10年来智能驾驶车辆轨迹规划方法并将这些算法分为基于图搜索、基于采样、基于数学优化、曲线插值和机器学习5类。针对每类算法进行了阐述，阐述算法在实际场景中的应用并分析了其优缺点。最后指出了目前依然存在的问题和挑战，并总结了未来研究发展方向。

关键词(KeyWords)： 轨迹规划;路径规划;自动驾驶

Abstract:

Keywords:

基金项目(Foundation):

作者(Author): 吕贵林,高洪伟,陈涛,田鹤,韩爽

DOI: 10.19822/j.cnki.1671-6329.20220199

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