The invention provides a vehicle lane changing track adaptive planning method in a variable scene, and the method comprises the steps: constructing a lane changing decision according to a traffic state; constructing a path plan based on the traffic state; and determining the optimal trajectory planning of the current traffic state based on the trajectory planning and the lane changing decision. Based on the traffic state, a quintic polynomial is adopted for lane changing track planning, the positions, speeds and acceleration states of vehicles at a starting point and a target point are determined, and a feasible and smooth track plan is planned between the starting point and the target point; determining a lane changing target point range based on the starting point; and based on the trajectory planning, after a target point range is determined, constructing path planning. Lane changing decision and track planning are adopted, and the smoothness, comfort and economical efficiency of whole vehicle lane changing can be improved on the premise that safety and efficiency are guaranteed according to the real-time traffic state.

    本发明申请提供了一种变场景下车辆换道轨迹自适应规划方法,包括:根据交通状态,构建换道决策;基于所述交通状态,构建路径规划;基于轨迹规划和所述换道决策,确定当前交通状态的最优轨迹规划。基于所述交通状态,采用五次多项式进行换道轨迹规划,确定起始点与目标点车辆的位置、速度和加速度状态,在起始点和目标点之间规划处一条可行且平滑的轨迹规划;基于所述起始点,确定换道目标点范围;基于所述轨迹规划,在确定目标点范围后,构建路径规划。采用换道决策与轨迹规划,可以根据实时交通状态在保证安全、效率的前提下,提高了整车换道的平滑性、舒适性和经济性。


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    Title :

    Adaptive planning method for lane changing track of vehicle in variable scene


    Additional title:

    一种变场景下车辆换道轨迹自适应规划方法


    Contributors:
    ZHANG FENGQI (author) / WEI JIAHUI (author) / XIE SHAOBO (author) / HU XIAOSONG (author) / HU BIN (author)

    Publication date :

    2024-11-29


    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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