The invention discloses a lane changing trajectory planning method based on a B spline. The method comprises the following steps: S1, calculating parameters of a lane changing process, and calculating a lane changing completion point based on a current vehicle state; calculating a trajectory curvature/curvature change rate constraint based on the vehicle turning radius and the acceleration; s2, boundary extraction of soft and hard boundary decoupling: obtaining a feasible solution space of trajectory planning based on road topology information and obstacle information, and taking the feasible solution space as a hard boundary; based on the lane changing completion point, a soft boundary is obtained in combination with the vehicle speed and the obstacle safety margin; and S3, trajectory planning modeling and solving are carried out, a trajectory optimization solving model is constructed, constraint and cost functions are set, and an optimal path is obtained. According to the method, the defect that traditional piecewisejerk can only restrain local anchor nodes is overcome; on the premise that the solving speed is higher, the solved trajectory curvature naturally has continuity, meanwhile, the lane changing key parameters of the lane changing type and the vehicle state are comprehensively considered, the lane changing process is represented more finely, and optimization of a high-quality trajectory is facilitated.
一种基于B样条的换道轨迹规划方法,包括如下步骤;步骤S1.计算换道过程的参数,基于当前车辆状态计算换道完成点;基于车辆转弯半径和加速度计算轨迹曲率/曲率变化率约束;步骤S2.软硬边界解耦的边界提取,基于道路拓扑信息和障碍物信息获取轨迹规划的可行解空间,作为硬边界;基于换道完成点,结合自车车速和障碍物安全余量获取软边界;步骤S3.轨迹规划建模及求解,构建轨迹优化求解模型、设置约束和代价函数,获取最优路径。该方法克服了传统piecewisejerk只能约束局部锚节点的缺陷;在求解速度更快的前提下,求解出的轨迹曲率天然具备连续性,同时,综合考虑换道类型、车辆状态的换道关键参数,更精细表征了换道过程,有利于优化出高质量轨迹。
Lane changing trajectory planning method based on B spline
一种基于B样条的换道轨迹规划方法
06.05.2025
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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