The invention provides a personalized lane changing trajectory planning method considering driving habits of a driver. The method comprises the following steps: step 1, collecting historical driving data of the driver and extracting and analyzing behavioral habit data; 2, building a quintic polynomial trajectory model; 3, a vehicle dynamics model and a tire model are built, a phase plane system is built, and personalized operation boundaries conforming to driving habits are designed in combination with driver behavior habit parameters; step 4, generating a collision-free feasible track cluster by using the track model and based on the operation boundary and the collision detection operation; and 5, designing a multi-objective optimization function, and selecting an optimal lane changing track based on the track cluster. According to the method, the lane changing track cluster is planned based on the quintic polynomial, the track cluster is constrained and optimized by comprehensively considering dynamics and driving habits of the driver, the lane changing track conforming to the preference of the driver is planned, and the purpose of improving the comfort of the driver while ensuring the lane changing safety is achieved.

    本发明提供一种考虑驾驶员驾驶习惯的个性化换道轨迹规划方法,包括以下步骤:步骤1,收集驾驶员历史驾驶数据并进行行为习惯数据提取与分析;步骤2,搭建五次多项式轨迹模型;步骤3,搭建车辆动力学模型与轮胎模型,建立相平面系统并结合驾驶员行为习惯参数设计符合驾驶习惯的个性化操作边界;步骤4,利用所述轨迹模型并基于所述操作边界和碰撞检测操作生成无碰撞可行轨迹簇;步骤5,设计多目标优化函数,基于所述轨迹簇中选出最佳换道轨迹。本发明基于五次多项式规划换道轨迹簇,综合考虑动力学与驾驶员驾驶习惯对轨迹簇进行约束优化,规划出符合驾驶员偏好的换道轨迹,实现了保证换道安全的同时提高驾驶员舒适性的目标。


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    Title :

    Personalized lane changing trajectory planning method considering driving habits of driver


    Additional title:

    一种考虑驾驶员驾驶习惯的个性化换道轨迹规划方法


    Contributors:
    ZHANG HAN (author) / XU KE (author) / LEE WON-HO (author)

    Publication date :

    2024-07-02


    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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