The invention provides a networked vehicle obstacle avoidance lane changing trajectory planning method and system, and the method comprises the steps: obtaining the initial state of a main vehicle and the state information of surrounding vehicles, and determining the transfer state of a lane changing main vehicle according to the state information; taking the initial state and the transfer state of the main vehicle as input, and performing first trajectory planning; judging whether the first trajectory planning meets safety and comfort constraints or not, and determining a lane changing end state according to the first trajectory planning when the safety and comfort constraints are met, otherwise, returning to the first trajectory planning; taking the transfer state and the lane changing ending state of the main vehicle as input, and performing second trajectory planning; and judging whether the trajectory in the second trajectory planning meets safety and comfort constraints or not, taking the second trajectory planning as a target lane changing trajectory when the safety and comfort constraints are met, and otherwise, returning to the second trajectory planning. According to the method, obstacle avoidance and lane changing can be effectively carried out, the curve is smooth, and meanwhile, the comfort constraint of automobile lane changing is met.

    本发明提供了一种网联汽车避障换道轨迹规划方法及系统,包括:获取主车的初始状态以及周围车辆的状态信息,根据状态信息确定换道主车的中转状态;将主车的初始状态和中转状态作为输入,进行第一次轨迹规划;判断第一次轨迹规划是否满足安全性和舒适性约束,且在满足安全性和舒适性约束时,根据第一次轨迹规划确定换道结束状态,否则返回第一次轨迹规划;将主车的中转状态和换道结束状态作为输入,进行第二次轨迹规划;判断第二次轨迹规划该轨迹是否满足安全性及舒适性约束,且在满足安全性和舒适性约束时,将第二次轨迹规划作为目标换道轨迹,否则返回第二次轨迹规划。本发明可以有效地进行避障换道,且曲线平滑,同时满足汽车换道的舒适性约束。


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    Title :

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


    Additional title:

    网联汽车避障换道轨迹规划方法及系统


    Contributors:
    LIU YUNXIANG (author) / WANG YAO (author) / YUAN XINXIN (author) / WANG QIANGE (author)

    Publication date :

    2022-05-27


    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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