The invention relates to the technical field of path planning, in particular to an intelligent vehicle autonomous lane changing trajectory planning method, which comprises the following trajectory planning steps: S1, an intelligent vehicle monitors whether a vehicle exists in a surrounding lane through a vehicle sensor, and obtains the vehicle speed condition of the surrounding vehicle; s2, the monitored data condition is uploaded to a vehicle system, and a plurality of advancing schemes for track prediction are constructed through a track generation model; and S3, inputting the constructed various trajectory planning schemes and the vehicle speed data of the surrounding vehicles into the prediction model to simulate whether the vehicle runs normally after the vehicle changes the lane according to the trajectory of the planning scheme. According to the method and the device, the various lane changing track schemes are constructed, and the optimal scheme is selected from the various schemes to serve as the lane changing track planning mode of the vehicle, so that the curvature continuity of the vehicle in the lane changing process is ensured, the stability of the vehicle is ensured, and better driving experience is brought to a driver.
本发明涉及路径规划技术领域,具体涉及一种智能车自主换道轨迹规划方法,轨迹规划步骤为:S1、智能车通过车辆传感器监测周围车道车辆是否存在,并获取得到周围车辆的车速情况;S2、将监测的数据情况上传至车辆系统内,通过轨迹生成模型来构建出轨迹预测的多种行进方案;S3、将构建的多种轨迹规划方案与周围车辆的车速数据输入至预测模型内部,去模拟出车辆按照规划方案的轨迹换道后车辆行驶是否正常。本申请通过构建出多种换道轨迹的方案,并从多种方案中选择出一种最佳的方案作为车辆的换道轨迹规划方式,保证车辆在车道变换过程中的曲率连续性,保证车辆的稳定性,给驾驶员带来更好的驾驶体验。
Intelligent vehicle autonomous lane changing trajectory planning method
一种智能车自主换道轨迹规划方法
2024-10-22
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 |
Lane changing trajectory planning method for autonomous vehicle
European Patent Office | 2023
|Trajectory planning and optimisation method for intelligent vehicle lane changing emergently
IET | 2018
|Trajectory planning and optimisation method for intelligent vehicle lane changing emergently
Wiley | 2018
|Intelligent vehicle lane changing trajectory planning method based on model predictive control
European Patent Office | 2025
|