Intelligent vehicle track changing trajectory planning system and method based on artificial potential field method

Abstract

The invention discloses an intelligent vehicle track changing trajectory planning system and method based on an artificial potential field method. The method comprises the following steps that a computing unit calculates a repulsion field of a front obstacle vehicle and the maximum transverse safe acceleration of an intelligent vehicle, a decision unit performs macro decision to obtain an action instruction of the intelligent vehicle for straight running or track changing, and sends the action instruction, the repulsion field and the current speed to a path planning module, the path planning module carries out path planning to obtain coordinates of path points and sends the coordinates to a speed planning module and a vehicle control module; the speed planning module carries out speed planning to obtain the maximum safe speed of each path point coordinate, and the vehicle control module controls the intelligent vehicle to run on a planned track according to the planned path point coordinates and the maximum safe speed; and according to the method, an obstacle repulsion field model in the artificial potential field method is used for reference, and the constraint of the maximum transverse safe acceleration and the road curvature is considered, so that the planned path is safer and more reliable.

Description

technical field [0001] The invention relates to a track planning method for lane changing of intelligent vehicles, in particular to a track planning system and method for lane changing of intelligent vehicles based on an artificial potential field method. Background technique [0002] Improper lane changing of automobiles is one of the important causes of road traffic accidents. A smart car is a comprehensive system that integrates functions such as environmental perception, planning and decision-making, and multi-level assisted driving. Therefore, it is necessary to study a safer way for intelligent vehicles to avoid obstacles and change lanes. Aiming at this problem, a kind of local trajectory planning method and device for intelligent vehicles has been announced in the document of Chinese Patent Publication No. CN106114507A, the method first obtains the path planning information from the starting point to the target point, and then from The smart vehicle samples from th...

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of stability and potential safety hazards existing in the existing lane-changing route planning of intelligent vehicles, and to propose a method that can not only meet the requirements of vehicle stability, but also effectively avoid obstacles when intelligent vehicles change lanes. Intelligent vehicle trajectory planning system based on artificial potential field method and its trajectory planning method

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