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Intelligent vehicle track lane changing planning method

A smart car and trajectory technology, applied in the field of lane-changing trajectory planning for smart cars, can solve problems such as less research, and achieve the effect of simple planning process, smooth and continuous trajectory speed and acceleration, and fast calculation speed

Active Publication Date: 2020-04-17
安徽卡思普智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most lane-changing trajectory planning methods are mainly aimed at straight road conditions, and there are few researches on the lane-changing trajectory planning methods for curved roads, especially roads with variable curvature.

Method used

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  • Intelligent vehicle track lane changing planning method
  • Intelligent vehicle track lane changing planning method
  • Intelligent vehicle track lane changing planning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0108] refer to figure 2 , this embodiment is for vehicles changing lanes on straight roads.

[0109] In this embodiment, the direction of travel of the vehicle is taken as the x-axis, and the direction perpendicular to the vehicle body is taken as the y-axis to establish a rectangular coordinate system. In this way, the lane-changing trajectory of the straight road can be obtained as:

[0110] where the heading angle is

[0111] Find the first derivative with respect to the lateral displacement:

[0112] Find the second derivative with respect to the lateral displacement:

[0113] Find the third derivative with respect to the lateral displacement:

[0114] In the process of changing lanes, the heading angle of the vehicle is relatively small, so the first and second derivatives of y can be considered as lateral velocity and lateral acceleration.

[0115] make available root t 1 =0.25t e or t 2 =0.75t e , according to the extremum principle, it can be kno...

Embodiment 2

[0118] refer to image 3 , this embodiment is for vehicles changing lanes on a curved road. In this embodiment, take the traveling direction of the vehicle as the x-axis, take the direction perpendicular to the vehicle body as the y-axis, establish a rectangular coordinate system, and take the center of mass as the coordinate origin.

[0119] The vehicle circles the instant center o j The rotational angular displacement θ(X) should be equal to the angle ζ between the tangent of the road centerline at the current position and the X axis, namely: θ(X)=ζ=arctan(f'(X)).

[0120] The motion of the center of mass of the vehicle changing lanes on a curved road is decomposed into a straight line motion from the center of mass of the vehicle to the instantaneous center and a circular rotation around the instantaneous center. The law of linear movement from the center of mass to the instantaneous center adopts the law of lateral displacement of the straight-line lane change trajectory...

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Abstract

The invention provides an intelligent vehicle track lane changing planning method, which comprises the steps of acquiring road information, and fitting a current lane center line equation according tothe road information; judging the road shape according to the current lane center line equation, wherein the road shape comprises a straight road and a curved road, and the curved road comprises a fixed-curvature road and a variable-curvature road; determining the maximum lateral acceleration amax and lane changing time te in the lane changing process according to the road shape, the running state of the vehicle and obstacle information; inputting the lane changing time te, the running state of the vehicle and the obstacle information into a preset safe distance model, and judging whether a lane changing condition is met or not; and if so, planning a lane changing track according to the road shape and the lane changing time te. The track planning method provided by the invention meets thedynamics requirements of the vehicle, can guarantee the operation stability and the driving safety in the lane changing process, is suitable for various road shapes, and is higher in applicability.

Description

technical field [0001] The present invention relates to the technical field of lane-changing track planning for smart cars, in particular to a lane-changing planning method for smart car tracks. Background technique [0002] With the advancement of science and technology and the development of the economic level, the number of cars and the mileage of highway construction have also increased steadily, which has brought great convenience to people's travel. The traffic accidents caused in time are also increasing day by day, which has caused a large number of casualties and property losses. The traffic safety problem has gradually attracted people's attention. The car's intelligent driving function can help the driver to drive the car under dangerous conditions, reduce the occurrence of traffic accidents, improve the driving safety of the car and reduce the driver's driving burden, and the car through the intelligent assisted driving function. The active lane changing functio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18
CPCB60W30/18163
Inventor 魏振亚陈无畏丁雨康张先锋崔国良赵林峰张锐陈
Owner 安徽卡思普智能科技有限公司
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