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Driverless automobile dynamic lane changing track planning method based on Fraenet coordinate system

An unmanned vehicle, trajectory planning technology, applied in transmission systems, anti-collision systems, combustion engines, etc., can solve problems such as less dynamic lane change trajectory planning, ignoring the dynamic environment impact, and not fully considering the impact of surrounding vehicles.

Active Publication Date: 2020-09-18
CHONGQING UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing research on trajectory planning is extensive, but most studies mainly focus on obstacle avoidance while ignoring the impact of dynamic environments
At present, there are few research results on dynamic lane change trajectory planning.
Moreover, the traditional model is mostly applied to straight roads or its radius needs to be known in advance, and the initial state and final state of the lane change are assumed to be the same during the lane change process, and the influence of surrounding vehicles during the lane change process is not fully considered.

Method used

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  • Driverless automobile dynamic lane changing track planning method based on Fraenet coordinate system
  • Driverless automobile dynamic lane changing track planning method based on Fraenet coordinate system
  • Driverless automobile dynamic lane changing track planning method based on Fraenet coordinate system

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Embodiment 1

[0052] see figure 1 , image 3 and Figure 6 , the present embodiment discloses a dynamic lane-changing trajectory planning method for an unmanned vehicle based on the Frenet coordinate system, comprising the following steps:

[0053] 1) Using the Frenet coordinate system as the working coordinate system, a cubic polynomial path generation model based on discrete global trajectory points is established. Among them, the Frenet coordinate system uses the center line of the road as the reference line, the longitudinal direction is the direction of the reference line, and the horizontal direction is along the normal direction of the reference line. The path generation model updates the lane-changing trajectory based on the solution of the lateral offset.

[0054] Take the starting point of the vehicle as the coordinate origin, the driving direction of the starting point of the vehicle is the positive direction of the x-axis, the vertical driving direction is the positive directio...

Embodiment 2

[0088] This embodiment discloses a dynamic lane-changing trajectory planning device for an unmanned vehicle based on the Frenet coordinate system, which includes an on-board sensor, a microprocessor, a memory, and a bottom controller.

[0089] A computer program is stored in the memory. The computer program is used to implement the method as described in Embodiment 1 when executed by a microprocessor.

[0090] The on-vehicle sensor perceives the information of the own vehicle. The Internet of Vehicles module perceives the surrounding vehicle modules. High-precision map perception raw path information. The on-vehicle sensors, the Internet of Vehicles module and the high-precision map transmit data to the microprocessor. After analysis and calculation by the microprocessor, the planned lane change trajectory is sent to the bottom controller for execution.

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Abstract

The invention provides a driverless automobile dynamic lane changing track planning method based on a Fraenet coordinate system. The method comprises the steps of establishing a path generation model,sensing the environment, sending a lane changing instruction by an upper behavior decision layer, planning an alternative motion track set by the path generation model, selecting alternative tracks and the like. According to the method, a discrete global trajectory is used as a target path, a cubic polynomial is adopted, the algorithm complexity is low, and the feasibility is good.

Description

technical field [0001] The invention relates to the field of intelligent networked vehicles, in particular to a method for planning a dynamic lane-changing trajectory of an unmanned vehicle based on a Frenet coordinate system. Background technique [0002] At present, automobile intelligence has become an important research direction for the development of the modern automobile industry. Smart cars are an important technology to promote the sustainable development of the automobile industry, and they are also an inevitable trend in the future development of the automobile industry. In order to seize the commanding heights of innovation and development of unmanned driving technology, the world's major automobile manufacturing countries have introduced policies and regulations to promote the development of unmanned driving. [0003] According to research, about 94% of traffic accidents are caused by human driving, which is easily affected by human errors such as distraction, ...

Claims

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Application Information

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IPC IPC(8): G08G1/16G08G1/0967H04L29/08
CPCG08G1/167G08G1/096725H04L67/12Y02T10/40
Inventor 刘永刚汪晓刘丽叶明李旭陈峥
Owner CHONGQING UNIV
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