The invention discloses a lane changing trajectory planning method for an automatic driving vehicle. The method comprises the following steps: S1, a heuristic stage; s11, selecting a target lane Gap; s12, convergence area calculation and static lane boundary constraint are carried out; s13, generating a heuristic reference trajectory; s2, an optimization stage; s21, generating a nominal track; s22, adding constraint conditions; s221, vehicle kinematics constraint is carried out; s222, carrying out lane boundary constraint; s223, carrying out obstacle constraint; s23, establishing a cost function; s24, updating the control sequence in a reverse process; s25, updating a state sequence in a forward process; and S26, calculating the cost corresponding to the new state sequence and the control sequence. According to the method, a coarse track of a lane changing process is generated at a heuristic stage, iterative optimization is performed according to the existing coarse track at an optimization stage, and an optimized track meeting a vehicle kinematics model is obtained.

    本发明公开了一种自动驾驶车辆变道轨迹规划方法,包括以下步骤:S1、启发阶段;S11、目标车道Gap选择;S12、汇入区域计算和静态车道边界约束;S13、启发式参考轨迹生成;S2、优化阶段;S21、标称轨迹生成;S22、约束条件添加;S221、车辆运动学约束;S222、车道边界约束;S223、障碍物约束;S23、代价函数建立;S24、反向过程更新控制序列;S25、正向过程更新状态序列;S26、计算新的状态序列和控制序列对应的代价。本发明先在启发阶段生成变道过程的粗轨迹,在优化阶段根据已有的粗轨迹进行迭代式优化,得到满足车辆运动学模型的优化轨迹。


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    Title :

    Lane changing trajectory planning method for autonomous vehicle


    Additional title:

    一种自动驾驶车辆变道轨迹规划方法


    Contributors:
    WANG JIAN (author) / HAN HAIYANG (author) / PEI ZHONGHUI (author)

    Publication date :

    2023-04-18


    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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