The invention relates to an intelligent vehicle wet and slippery road surface lane changing trajectory planning method and system, and belongs to the technical field of intelligent driving. The method comprises the following steps: acquiring vehicle state information and environment information of a current driving wet and slippery road; based on the state information and the environment information, a nonlinear programming model of the optimal transverse and longitudinal lane changing acceleration is established, and the optimal transverse and longitudinal lane changing acceleration is obtained through calculation; and based on the optimal transverse and longitudinal lane changing accelerations, establishing a trajectory generation model to generate a lane changing trajectory. The method solves the problem that an existing intelligent driving vehicle lane changing track planning method does not consider extreme road conditions (such as wet and slippery road surfaces in rainy and snowy days) and cannot be suitable for wet and slippery road surface scenes. Compared with an existing method, the method is more suitable for actual wet and slippery road surface scenes.

    本发明涉及一种智能车辆湿滑路面换道轨迹规划方法和系统,属于智能驾驶技术领域。该方法包括:获取车辆状态信息以及当前行驶的湿滑道路的环境信息;基于所述状态信息和所述环境信息,建立最优换道横纵向加速度的非线性规划模型,计算得到最优横、纵向换道加速度;基于所述最优横、纵向换道加速度,建立轨迹生成模型生成换道轨迹。该方法解决了现有智能驾驶车辆换道轨迹规划方法中未考虑极端道路条件(如雨雪天湿滑路面)以至于无法适用于湿滑路面场景的问题。较现有方法,该方法更适用实际湿滑路面场景。


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    Title :

    Intelligent vehicle wet and slippery road surface lane changing trajectory planning method and system


    Additional title:

    一种智能车辆湿滑路面换道轨迹规划方法和系统


    Contributors:
    LI LIN (author) / FAN YOUMING (author) / FENG MEILING (author) / LI XIN (author)

    Publication date :

    2022-11-25


    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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