The invention relates to a variable-speed dynamic lane changing track planning method based on a vehicle driving rule. The driving safety and comfort of the vehicle are controlled through the acceleration and the jerk; and a speed change rule is fused into a trajectory planning method, a cycloid * and a circular curve * are adopted as motion primitive planning lane change trajectories, so that thelane change trajectory of the automatic driving vehicle is consistent with an automatic cruise trajectory, and the lane change trajectory is dynamically updated in real time in combination with the latest position and the safety distance of the vehicle until the automatic driving vehicle completes lane change. A speed change rule is originally introduced into lane change motion, and the vehicle lane change efficiency is improved; the acceleration and jerk required by comfort and safety are considered while the trajectory is generated, the process of searching for the optimal trajectory by setting an optimization target in the past is omitted, the optimal trajectory is directly calculated under constraint, and the efficiency is remarkably improved. After a certain time interval, dynamic iteration is carried out to recalculate the planning trajectory, thereby ensuring that the end point of the vehicle planning trajectory is beyond the safe distance in real time, and effectively correcting the error of path tracking.

    本发明涉及一种基于车辆行驶规律的变速动态换道轨迹规划方法。通过加速度、加加速度控制车辆行驶安全性和舒适性,并将变速规律融合到轨迹规划方法中,采用回旋线*和圆曲线*作为运动本原规划换道轨迹,使自动驾驶车辆换道轨迹与自动巡航轨迹一致,再结合车辆最新位置和安全距离实时动态更新换道轨迹,直至自动驾驶车辆完成换道。本发明换道运动本原引入变速规律,提高车辆换道效率;轨迹生成的同时考虑舒适、安全所要求的加速度和加加速度,省去了以往设定优化目标寻找最优轨迹的过程,约束下直接计算最优轨迹,效率显著提高;一定时间间隔后动态迭代重新计算规划轨迹,既实时保证车辆规划轨迹终点位于安全距离外,又有效更正路径跟踪的误差。


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    Title :

    Variable-speed dynamic lane changing track planning method based on vehicle driving rule


    Additional title:

    一种基于车辆行驶规律的变速动态换道轨迹规划方法


    Contributors:
    ZHANG HE (author) / HU CHANGBIN (author)

    Publication date :

    2020-10-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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