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A lane-changing planning method for intelligent vehicle trajectories

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: 2021-10-19
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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  • A lane-changing planning method for intelligent vehicle trajectories
  • A lane-changing planning method for intelligent vehicle trajectories
  • A lane-changing planning method for intelligent vehicle trajectories

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, a Cartesian coordinate system is established with the traveling direction of the vehicle as the x-axis and the direction perpendicular to the vehicle body as the y-axis. 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 extreme value principle, it can be known that t...

Embodiment 2

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

[0119] The center of curvature of the vehicle around the road 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 car to the center of curvature of the road and a circular rotation around the center of curvature of the road. The law of linear motion from the center of mass to the center of curvature of the road adopts the law of motion of the lateral d...

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Abstract

A lane change planning method for an intelligent vehicle trajectory proposed by the present invention includes: obtaining road information, and fitting the current lane centerline equation according to the road information; judging the road shape according to the current lane centerline equation, and the road shape includes straight roads and curved roads Roads, curved roads include fixed curvature roads and variable curvature roads; determine the maximum lateral acceleration a during the lane change process according to the road shape, the running state of the own vehicle, and obstacle information max and lane change time t e ; Change lane time t e , Input the running status and obstacle information of the self-vehicle into the preset safety distance model to judge whether the lane-changing conditions are met; if yes, then according to the road shape and the lane-changing time t e Plan the lane change trajectory. The trajectory planning method proposed by the invention satisfies the vehicle dynamics requirements, can ensure the handling stability and driving safety of the lane changing process, is applicable to various road shapes, and has stronger applicability.

Description

technical field [0001] The invention relates to the technical field of lane-changing track planning for smart cars, in particular to a track-changing planning method for smart cars. 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 function of vehicles...

Claims

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Application Information

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Patent Type & Authority Patents(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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