The invention discloses a networked vehicle lane change trajectory planning method based on accessibility analysis, and belongs to the technical field of path planning, and the method comprises the steps: building a vehicle lane change trajectory function, adding constraint conditions for the vehicle lane change trajectory function, the constraint conditions comprising minimum safety distance constraint, safety constraint and comfort constraint, and obstacle accessibility analysis; and vehicle lane changing trajectory planning is carried out. According to the method, a quintic and sixtic mixed polynomial and a lane changing critical collision model are used, and a lane changing track meeting safety and comfort constraints is planned; and in consideration of the safety problem caused by emergency lane change of the front vehicle, part of comfort is sacrificed, and a safety avoidance track is planned. The response time of the network connection vehicle in an emergency is shortened; and in combination with the searched safe position, solving an avoidance track function, and splicing the two sections of tracks into one track, so that the reasonable connection of the lane changing track and the avoidance track can be realized.
本发明公开基于可达性分析的网联车辆换道轨迹规划方法,属于路径规划技术领域,包括建立车辆换道轨迹函数,给车辆换道轨迹函数增加约束条件,约束条件包括最小安全距离约束、安全性约束和舒适性约束,障碍物的可达性分析;进行车辆换道轨迹规划。本发明使用五次和六次的混合多项式以及换道临界碰撞模型,规划了满足安全性和舒适性约束的换道轨迹;考虑到前车的紧急变道所引发的安全问题,牺牲部分舒适性,规划了安全避让轨迹。降低了紧急情况下网联车的反应时间;结合搜索到的安全位置,求解出避让的轨迹函数,将两段轨迹拼接成一条轨迹,可以实现换道轨迹与避让轨迹的合理衔接。
Networked vehicle lane changing trajectory planning method based on accessibility analysis
基于可达性分析的网联车辆换道轨迹规划方法
2024-01-26
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 |
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