The invention discloses a distributed driving electric vehicle lane changing track planning method and device and a storage medium, and the method comprises the steps: generating an unconstrained generalized lane changing track cluster according to a vehicle track planning curve fitting function; in the generalized lane changing track clusters, lane changing track clusters meeting the stability domain of the distributed driving electric vehicle are selected; calculating a feasible region of the vehicle according to environmental geometric constraints and road boundaries in the lane changing track cluster meeting the stability region of the distributed driving electric vehicle; based on an improved algorithm combining an analytic hierarchy process and an ideal approaching technology, an optimal lane changing trajectory is selected by evaluating a stability index, a trajectory tracking accuracy index, a comfort index and a lane changing efficiency index. According to the path planning algorithm, the advantage that four wheels of the distributed driving electric vehicle are independent and controllable is fully utilized, new dynamic characteristics of the vehicle are fused into the path planning algorithm, and the running efficiency and safety of the electric vehicle are improved.
本发明公开了一种分布式驱动电动汽车换道轨迹规划方法、设备及存储介质,换道轨迹规划方法包括:根据车辆轨迹规划曲线拟合函数,生成无约束的广义换道轨迹簇;在广义换道轨迹簇中,选出满足分布式驱动电动汽车稳定域的换道轨迹簇;在满足分布式驱动电动汽车稳定域的换道轨迹簇中,根据环境几何约束和道路边界,计算出车辆的可行域;基于层次分析法和逼近于理想的技术相结合的改进算法,通过评价稳定性指标、轨迹跟踪准确性指标、舒适性指标和换道效率指标来选择最优的换道轨迹。本发明路径规划算法充分利用分布式驱动电动汽车四轮独立可控的优点,将车辆新的动力学特性融入轨迹规划算法中,电动汽车行驶的高效性和安全性得到提高。
Distributed driving electric vehicle lane changing track planning method and device and storage medium
分布式驱动电动汽车换道轨迹规划方法、设备及存储介质
2023-06-27
Patent
Electronic Resource
Chinese
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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