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
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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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