The invention provides a vehicle lane changing trajectory planning method based on a five-order Bezier curve in an automatic driving environment, and the method is mainly divided into three parts: firstly, obtaining permission conditions of vehicles entering and exiting an intersection through an intersection passing efficiency improvement method based on the risk degree in the automatic driving environment; comprise speed, a current lane, a target lane and the like, and taking as initial and tail end constraints of a trajectory planning model; then, on the basis of a single vehicle model of vehicle kinematics, considering the constraint of lateral acceleration in the vehicle lane changing process, and taking the constraint as one of boundary constraints of trajectory planning; taking a geometric circle as a safety domain of the vehicle, calculating a critical condition of a position relationship between the vehicle and other vehicles in a lane changing process, and taking collision avoidance as a boundary constraint II of trajectory planning; finally, an optimization objective function comprehensively considering multiple objectives such as safety, passing efficiency and energy consumption emission is established, different weights are given to optimization objective function items, different priorities of the multiple objectives are achieved, and therefore a complete lane changing trajectory planning model is formed.

    本发明提出了一种自动驾驶环境下基于五阶贝塞尔曲线的车辆换道轨迹规划方法,该方法主要分为三个部分,首先通过自动驾驶环境下基于危险度的交叉口通行效率提升方法,获取车辆进出交叉口的许可条件,包括速度、当前车道、目标车道等,并以此作为轨迹规划模型的初末端约束;之后,以车辆运动学的单车模型为基础,考虑车辆换道过程中侧向加速度的约束,以此作为轨迹规划的边界约束之一;以几何圆作为车辆的安全域,计算车辆换道过程中与其他车辆位置关系的临界条件,将避撞作为轨迹规划的边界约束之二;最终建立综合考虑安全性、通行效率、能耗排放等多目标的优化目标函数,并对优化目标函数项赋予不同的权重,实现多目标的不同优先级,以此构成完整的换道轨迹规划模型。


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    Titel :

    Vehicle lane changing trajectory planning method based on five-order Bezier curve


    Weitere Titelangaben:

    一种基于五阶贝塞尔曲线的车辆换道轨迹规划方法


    Beteiligte:
    LIU MIAOMIAO (Autor:in) / YAO MINKUN (Autor:in) / ZHU MINGYUE (Autor:in)

    Erscheinungsdatum :

    2023-12-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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




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