The invention discloses an intelligent driving lane-changing obstacle-avoiding trajectory planning and tracking control method and system, an environment sensing module collects road information, obstacle state information and vehicle driving state information, and a candidate reference trajectory generation module generates a plurality of candidate lane change reference trajectories according to the road information collected by the environment sensing module; a reference trajectory selection module receives the candidate lane changing reference trajectories sent by the candidate reference trajectory generation module and screens the candidate lane changing reference trajectories to select an optimal lane changing reference trajectory; a reference trajectory optimization module receives the vehicle driving state information and the obstacle state information sent by the environment sensing module and the optimal lane changing reference trajectory selected by the reference trajectory selection module, and performs real-time optimization adjustment on the optimal lane changing reference trajectory according to the vehicle state and the obstacle state; and the trajectory tracking control module receives the optimized optimal trajectory sent by the reference trajectory optimization module and performs trajectory tracking control on the vehicle. The real-time performance, comfort and safety of lane changing trajectory planning can be effectively improved, and meanwhile the trajectory tracking precision is improved.

    本发明公开了一种智能驾驶换道避障轨迹规划、跟踪控制方法及系统,环境感知模块采集道路信息、障碍物状态信息以及本车行驶状态信息,候选参考轨迹生成模块根据环境感知模块采集的道路信息生成多条候选换道参考轨迹,参考轨迹选取模块接收候选参考轨迹生成模块发送的候选换道参考轨迹并对候选换道参考轨迹进行筛选,选取出最优换道参考轨迹,参考轨迹优化模块接受环境感知模块发送的本车行驶状态信息、障碍物状态信息和参考轨迹选取模块选取的最优换道参考轨迹,根据本车状态和障碍物状态对最优换道参考轨迹进行实时优化调整,轨迹跟踪控制模块接收参考轨迹优化模块发送的优化后的最优轨迹并对车辆进行轨迹跟踪控制。本发明可以有效提高换道轨迹规划的实时性、舒适性与安全性,同时提高轨迹跟踪精度。


    Access

    Download


    Export, share and cite



    Title :

    Intelligent driving lane-changing obstacle-avoiding trajectory planning and tracking control method and system


    Additional title:

    一种智能驾驶换道避障轨迹规划、跟踪控制方法及系统


    Contributors:
    TANG BIN (author) / XU ZHANXIANG (author) / JIANG HAOBIN (author) / YIN CHENHUI (author) / LIN ZIYAN (author) / YIN YUE (author) / REN YANG (author) / HU ZITIAN (author) / YANG ZHENGYI (author)

    Publication date :

    2021-08-20


    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



    Method and system for planning obstacle-avoiding lane-changing trajectory of networked automobile

    LIU YUNXIANG / WANG YAO / YUAN XINXIN et al. | European Patent Office | 2022

    Free access

    Articulated vehicle lane changing and obstacle avoiding method

    ZHAO WEIQIANG / SONG GUANGHAO / CHEN YANG et al. | European Patent Office | 2022

    Free access

    Vehicle lane changing and obstacle avoiding method and vehicle

    ZHUANG RUHONG / LI LIYUN / HUANG YIWEN et al. | European Patent Office | 2023

    Free access

    Intelligent automobile curve driving automatic lane changing tracking control method

    LAI FEI / YANG HUI / WANG XIAOYU et al. | European Patent Office | 2023

    Free access

    Trajectory planning and optimisation method for intelligent vehicle lane changing emergently

    Jiang, Haobin / Shi, Kaijin / Cai, Junyu et al. | IET | 2018

    Free access