Due In order to ensure the safety of high-speed overtaking planning and improve the trajectory comfort, a multi-objective trajectory planning algorithm for high-speed overtaking was proposed. The algorithm solves the boundary conditions of high-speed overtaking on the basis of feasible convex space, and then analyzes the feasibility of overtaking behavior through the safety overtaking strategy. Then, according to the established overtaking trajectory planning objective function and comfort optimization function, the trajectory ride comfort and other objectives are optimized, and the algorithm plans the trajectory in real time until the overtaking behavior is completed. To verify the effectiveness of the proposed algorithm, Prescan and Matlab /Simulink were used to build a co-simulation platform, and two common overtaking scenarios were verified and analyzed. The simulation results show that the proposed method can effectively improve the comfort and safety of the planned overtaking trajectory compared with the single objective optimization.
High-speed overtaking trajectory planning based on multi-objective optimization
2023-08-26
973214 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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