The invention discloses a personalized lane changing track planning method based on a quintic polynomial, and aims to further improve the acceptability and satisfaction of a driver on lane changing operation of automatic driving or auxiliary driving, and improve the personalized degree of a lane changing track from a'sectional 'mode to a'continuous' mode. The personalized lane change trajectory planning method comprises a driver historical lane change data acquisition and feature analysis process, a lane change trajectory cluster generation and coordinate conversion process, a stability search process, and an optimal lane change trajectory search and trajectory anti-collision detection process. The method is suitable for a structured road lane changing scene of automatic driving or auxiliary driving, the method is wide in applicability, the planned track meets the stability and anti-collision requirements, the individuation degree is high, the method is close to the driving habit of a driver, and the acceptability and the satisfaction degree of lane changing operation of automatic driving or auxiliary driving of the driver can be improved.
本发明公开了一种基于五次多项式的个性化换道轨迹规划方法,为了进一步提高驾驶员对自动驾驶或辅助驾驶在换道操作上的接受度和满意度,将换道轨迹的个性化程度从“分段式”向“连续式”提升,所提出的个性化换道轨迹规划方法包括了驾驶员历史换道数据采集和特征分析过程、换道轨迹簇生成和坐标转换过程、稳定性搜索过程、最优换道轨迹搜索和轨迹防碰撞检测过程。本发明适用于自动驾驶或辅助驾驶的结构化道路换道场景,方法适用性广,规划轨迹满足稳定性和防碰撞要求,其个性化程度高从而贴近驾驶员驾驶习惯,可以提升驾驶员自动驾驶或辅助驾驶的换道操作的接受度和满意度。
Personalized lane changing trajectory planning method based on quintic polynomial
一种基于五次多项式的个性化换道轨迹规划方法
2024-05-28
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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