The invention discloses an intelligent vehicle lane-changing overtaking trajectory planning method based on a Gaussian pseudo-spectral method, which comprises the following steps: S1, exchanging vehicle road information and own vehicle sensing information, establishing static and dynamic obstacle mathematical models for local path planning by adopting an X-Y function, and establishing a drivable area model and a kinematics model of a vehicle through the exchanged information; and S2, according to the mathematical models of the static and dynamic obstacles, the drivable area model and the kinematic model, overtaking trajectory planning solving is carried out on the optimal control problem by adopting a pseudo-spectral method, the optimal control problem is discretized and converted into a nonlinear planning problem, and the nonlinear planning problem is solved to obtain a planned overtaking trajectory. The method has the advantages of being efficient, stable and high in calculation precision, and the overtaking track with higher safety can be obtained.
本发明公开了一种基于高斯伪谱法的智能车变道超车轨迹规划方法,S1:将车路信息和自身车辆感知信息交换,并采用X‑Y函数建立局部路径规划的静态和动态障碍物的数学模型,通过交换后的信息建立车辆的可行驶区域模型和运动学模型;S2:根据静态和动态障碍物的数学模型、可行驶区域模型和运动学模型,采用伪谱法对最优控制问题进行超车轨迹规划求解,通过对最优控制问题离散化,转化为非线性规划问题,求解该非线性规划问题得到规划后的超车轨迹。具有高效、稳定、计算精度高的优点,能够得到具有更高安全性的超车轨迹。
Intelligent vehicle lane changing overtaking trajectory planning method based on Gaussian pseudo-spectral method
一种基于高斯伪谱法的智能车变道超车轨迹规划方法
2022-12-27
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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