The invention relates to the technical field of automatic driving, in particular to an intelligent commercial vehicle lane changing planning control method based on a vehicle-mounted visual sensor, and the method comprises the steps: carrying out the discretization of reference line information obtained by the vehicle-mounted visual sensor under a vehicle body coordinate system, and carrying out the smooth fitting through a cubic spline curve equation; constructing a Frenet coordinate system by using the arc length and the transverse offset on the reference line, planning a series of lane-changing obstacle-avoiding candidate trajectories, and converting the candidate trajectories from the Frenet coordinate system to a Cartesian coordinate system; adopting a multi-target cost function to screen out an optimal track changing track from the candidate tracks; designing a multi-point preview path tracking algorithm based on the two-degree-of-freedom kinetic model of the vehicle; and controlling the commercial vehicle to track the optimal lane changing trajectory by using a path tracking algorithm, and performing simulation verification. Under the condition of not depending on a high-precision map, the local path planning of the lane change of the commercial vehicle is carried out. Path planning and tracking control are combined, and the lane changing process of the intelligent commercial vehicle is achieved.

    本发明涉及自动驾驶技术领域,具体涉及一种基于车载视觉传感器的智能商用车换道规划控制方法,在车身坐标系下,对车载视觉传感器获取的参考线信息进行离散化,通过三次样条曲线方程进行平滑拟合;利用参考线上的弧长和横向偏移量构建Frenet坐标系,并规划出一系列的换道避障候选轨迹,将其从Frenet坐标系转换到笛卡尔坐标系;采用多目标代价函数从候选轨迹中筛选出最优换道轨;基于车辆二自由度动力学模型设计多点预瞄路径跟踪算法;用路径跟踪算法,控制商用车跟踪最优换道轨迹,并进行仿真验证。在不依赖高精地图的情况下,进行商用车的换道局部路径规划。将路径规划与跟踪控制相结合,实现智能商用车的换道过程。


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    Title :

    Intelligent commercial vehicle lane changing planning control method based on vehicle-mounted visual sensor


    Additional title:

    一种基于车载视觉传感器的智能商用车换道规划控制方法


    Contributors:
    LIU FUYUN (author) / YU WAN (author) / DENG JUCAI (author) / YANG YINWEN (author) / TANG ZHENTIAN (author) / ZHAO LIANGLIANG (author) / WANG TIANMING (author)

    Publication date :

    2024-11-05


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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