The invention discloses a lane changing trajectory planning method considering vehicle dynamics. The method comprises the steps that S1, a planning period sequence (tau 0, tau 1,..., tau i,..., tau n-1) is set; s2, in the planning period tau 0, front wheel turning angle information during lane changing of the vehicle is collected, and a front wheel turning angle sequence is formed; s3, the front wheel steering angle sequence is processed according to the vehicle dynamics principle, and state information of the vehicle is obtained; s4, track conversion is conducted on the state information of the vehicle, and a lane changing track of the vehicle is generated; s5, the lane changing tracks are screened, the lane changing tracks meeting the screening requirement are obtained, and the lane changing tracks meeting the screening requirement serve as planning tracks in the planning period tau 0; s6, according to the steps S2-S5, planning trajectories in the planning periods tau 1,..., tau i,..., and tau n-1 are obtained in sequence; and S7, the planning trajectories in the planning periods tau 0, tau 1,..., tau i,... and tau n-1 are combined in sequence to form a final lane changing trajectory. According to the method, a smoother lane changing track can be obtained, and the requirements for comfort, safety, purposiveness and efficiency in the lane changing process are met.

    本发明公开了一种考虑车辆动力学的换道轨迹规划方法,包括步骤:S1.设定规划周期序列(τ0,τ1,...,τi,...,τn‑1);S2.在规划周期τ0内,采集车辆换道时的前轮转角信息并构成前轮转角序列;S3.根据车辆动力学原理对前轮转角序列进行处理,得到车辆的状态信息;S4.对车辆的状态信息进行轨迹转换,生成车辆的换道轨迹;S5.对换道轨迹进行筛选,得到满足筛选要求的换道轨迹,并将满足筛选要求的换道轨迹作为规划周期τ0内的规划轨迹;S6.按照步骤S2‑S5类推,依次得到规划周期τ1,...,τi,...,τn‑1内的规划轨迹;S7.依次将规划周期τ0,τ1,...,τi,...,τn‑1内的规划轨迹合并,形成最终的换道轨迹。本发明能够得到更为平缓的换道轨迹,满足换道过程舒适性、安全性、目的性及效率的要求。


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    Title :

    Lane changing trajectory planning method considering vehicle dynamics


    Additional title:

    考虑车辆动力学的换道轨迹规划方法


    Contributors:
    WEI HANBING (author) / YAO ZHIHAO (author) / WANG HAIJIANG (author)

    Publication date :

    2021-11-05


    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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