The invention provides an intelligent vehicle track lane changing planning method, which comprises the steps of acquiring road information, and fitting a current lane center line equation according tothe road information; judging the road shape according to the current lane center line equation, wherein the road shape comprises a straight road and a curved road, and the curved road comprises a fixed-curvature road and a variable-curvature road; determining the maximum lateral acceleration amax and lane changing time te in the lane changing process according to the road shape, the running state of the vehicle and obstacle information; inputting the lane changing time te, the running state of the vehicle and the obstacle information into a preset safe distance model, and judging whether a lane changing condition is met or not; and if so, planning a lane changing track according to the road shape and the lane changing time te. The track planning method provided by the invention meets thedynamics requirements of the vehicle, can guarantee the operation stability and the driving safety in the lane changing process, is suitable for various road shapes, and is higher in applicability.
本发明提出的一种智能车轨迹换道规划方法,包括:获取道路信息,并根据道路信息拟合出当前车道中心线方程;根据当前车道中心线方程判断道路形状,道路形状包括直线道路和弯曲道路,弯曲道路包括定曲率道路和变曲率道路;根据道路形状、自车运行状态、障碍物信息确定换道过程中的最大侧向加速度a及换道时间t;将换道时间t、自车的运行状态和障碍物信息输入预设的安全距离模型中,判断是否满足换道条件;是,则根据道路形状以及换道时间t规划出换道轨迹。本发明提出的轨迹规划方法满足车辆动力学要求,可保证换道过程的操纵稳定性和行驶安全性,且适用于多种道路形状,适用性更强。
Intelligent vehicle track lane changing planning method
一种智能车轨迹换道规划方法
2020-04-17
Patent
Electronic Resource
Chinese
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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