The invention relates to a lane change trajectory planning system, which specifically comprises a lane change system and a lane change trajectory planning method. The lane change system comprises a camera, a radar, a communication system, a positioning system, an IMU assembly, a speedometer, an HMI module, an electronic control system and a motion operation system. The lane change trajectory planning method comprises the following steps of receiving a lane change instruction, obtaining surrounding environment information and motion information of the vehicle and a target lane vehicle, performing data processing, calculating a lane change trajectory function and the like. Based on an existing ideal quintic polynomial type lane change trajectory planning function, the influence of the road curvature is comprehensively analyzed, the lane change trajectory planning system considering the initial motion state of the vehicle and the road curvature is designed under different road conditionssuch as straight roads and bent roads, a reasonable motion path is designed for an intelligent vehicle during lane change, and then a more stable and safer lane change process is obtained.

    本发明涉及一种车道变更轨迹规划系统,具体包括车道变更系统和车道变更轨迹规划方法,车道变更系统包括摄像头、雷达、通信系统、定位系统、IMU组件、里程计、HMI模块、电子控制系统及运动操作系统;车道变更轨迹规划方法包括:接收换道指令、获取周边环境信息、本车辆以及目标车道车辆的运动信息、数据处理、计算车道变更的轨迹函数等步骤,本发明基于已有的理想五次多项式型车道变更轨迹规划函数,综合分析道路曲率的影响,在直道和弯道等不同道路情况下设计一种考虑车辆初始运动状态及道路曲率的车道变更轨迹规划系统,为智能汽车在换道时设计合理的运动路径,进而获得更为平稳安全的车道变更过程。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Lane change trajectory planning system


    Weitere Titelangaben:

    一种车道变更轨迹规划系统


    Beteiligte:
    GUO CHONG (Autor:in) / LUO SHUIPING (Autor:in) / LI XIAOJIANG (Autor:in) / YU XINTONG (Autor:in) / WANG JIAWEI (Autor:in) / ZHANG YAO (Autor:in) / CHU LIANG (Autor:in) / GUO JIANHUA (Autor:in) / XU NAN (Autor:in)

    Erscheinungsdatum :

    2020-07-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze



    Generating lane change trajectory

    LEE HYEONG CHEOL / PARK CHANG WOO | Europäisches Patentamt | 2020

    Freier Zugriff

    Lane-change trajectory planning method for driverless vehicles based on trajectory prediction

    Zhang, Shuai / Wang, Yonghai / Hu, Yi | British Library Conference Proceedings | 2023



    Lane Change Trajectory Planning and Simulation for Intelligent Vehicle

    Wang, Chang ;Zheng, Chu Qing | Trans Tech Publications | 2013


    Study on Lane Change Trajectory Planning Considering of Driver Characteristics

    Wang, Yang Yang / Pan, Ding / Liu, Zhiguang et al. | British Library Conference Proceedings | 2018