The invention discloses an intelligent vehicle lane changing track collaborative planning method based on instantaneous risk assessment. The method comprises the following steps: 1) obtaining trafficbasic data: vehicle motion data, vehicle relative position information, vehicle geometric parameters, road geometric conditions and road surface friction coefficients; 2) collecting motion trails of surrounding vehicles to construct a lane changing sample, and extracting motion characteristics of the surrounding vehicles by using a fuzzy C clustering algorithm; 3) based on the motion characteristics of the surrounding vehicles, predicting the vehicle motion state and the vehicle spacing of the surrounding vehicles at the moment t; 4) establishing a lane change condition safety discrimination model, and deriving a vehicle operation instantaneous risk index by using the parking distance index; 5) taking instantaneous risk minimization as an objective function, and planning transverse and longitudinal movement tracks of the vehicle by utilizing a trapezoidal acceleration method and a genetic algorithm respectively; and 6) realizing a vehicle lane changing track planning function through computer programming. According to the invention, lane changing safety can be recognized in advance, the vehicle lane changing track is planned, and theoretical reference and technical support are provided for a vehicle lane changing track planning system.

    本发明公开了一种基于瞬时风险评估的智能车辆换道轨迹协同规划方法,包括:1)获取交通基础数据:车辆运动数据、车辆相对位置信息、车辆几何参数、道路几何条件和路面摩擦系数;2)采集周围车辆的运动轨迹构建换道样本,利用模糊C聚类算法提取周围车辆运动特征;3)基于周围车辆的运动特征,预测周围车辆在t时刻的车辆运动状态及车辆间距;4)建立换道条件安全判别模型,利用停车距离指标推导车辆运行瞬时风险指标;5)以瞬时风险最小化为目标函数,分别利用梯形加速度法与遗传算法规划车辆横纵向运动轨迹;6)通过计算机编程实现车辆换道轨迹规划功能。本发明可提前识别换道安全性,并规划车辆换道轨迹,为车辆换道轨迹规划系统提供理论参考与技术支持。


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    Title :

    Intelligent vehicle lane changing track collaborative planning method based on instantaneous risk assessment


    Additional title:

    一种基于瞬时风险评估的智能车辆换道轨迹协同规划方法


    Contributors:
    WEN HUIYING (author) / WU JIABIN (author)

    Publication date :

    2020-12-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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