The invention discloses an intelligent vehicle lane changing path planning method based on a risk field, and belongs to the field of intelligent vehicle path planning. The planning method comprises the following steps: establishing a driving risk field comprising a road boundary risk field, a lane marking line risk field and an obstacle risk field, and introducing vehicle size information and course angle information to expand the application range of the risk field; and then combining a vehicle kinematic model, establishing a model prediction controller by taking the centroid horizontal and vertical coordinates and the intelligent course angle as state quantities and taking the front wheel steering angle as a control quantity to obtain an optimal control quantity, obtaining the state quantities according to the model prediction controller, and repeating the calculation process at each sampling moment to obtain a dynamic vehicle path. According to the method, the change of the driving risk can be described more accurately and comprehensively by establishing the expanded driving risk field. Through a path planning system model, a driving environment in a period of time in the future is predicted, and a more optimized control effect is realized.
本发明公开了一种基于风险场的智能车辆换道路径规划方法,属于属于智能车辆路径规划领域。该规划方法包括以下步骤:建立包含道路边界风险场、车道标记线风险场以及障碍物风险场的行车风险场,同时引入车辆尺寸信息和航向角信息扩展风险场适用范围;然后结合车辆运动学模型,将质心横纵坐标、智能航向角作为状态量,前轮转角作为控制量建立模型预测控制器得到最优控制量,并根据模型预测控制器得到状态量,每个采样时刻重复该计算过程,得到动态车辆路径。本发明方法通过建立扩展后的行车风险场能更准确更全面的描述行车风险的变化。通过对路径规划系统模型,对未来一段时间内的行车环境进行预测,实现更加优化的控制效果。
Intelligent vehicle lane changing path planning method based on risk field
一种基于风险场的智能车辆换道路径规划方法
2024-02-06
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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