Lane changing trajectory planning method for unmanned vehicle based on vehicle-to-vehicle cooperation

Abstract

The invention discloses a lane changing trajectory planning method for an unmanned vehicle based on vehicle-to-vehicle cooperation. In consideration of the vehicle lane changing complexity in an unmanned driving environment and characteristics of frequent turning and lane changing in urban road sections, a vehicle-to-vehicle cooperation policy and a trajectory planning method during the lane changing process are provided. With a lane changing cooperation policy and a quintic polynomial trajectory planning method as a basis and with vehicle kinematics and comfort as control conditions, a main vehicle lane changing trajectory optimization model under different cooperation degrees of a rear vehicle in the target lane is built; and besides, in consideration of defects of traditional elliptic and circular vehicle simulation models, through analyzing a boundary relationship between a possible collision point and a vehicle contour, a collision avoidance boundary condition under a rectangular vehicle model is built, and the vehicle lane changing trajectory model is tested through a scene. Under the vehicle-to-vehicle cooperation condition, safe vehicle lane changing under the unmanned driving environment can be completed, and requirements of lane changing comfort and kinematics can be met.

Description

technical field [0001] The invention belongs to the field of automobile active safety and assisted driving, and in particular relates to a lane-changing trajectory planning method for unmanned vehicles based on vehicle-vehicle coordination. Background technique [0002] In an unmanned driving environment, the vehicle's perception of the surrounding traffic state and the real-time trajectory control of the vehicle are important factors for the safe and efficient operation of unmanned vehicles. The trajectory control is to obtain a smooth and continuous curvature trajectory through trajectory planning, so as to meet the vehicle's motion characteristics and safety requirements. The existing trajectory planning is an extension of the path planning method in the field of robot research. One type is the global trajectory method, which proposes to find the global trajectory connecting the starting point to the target point. Since this type of method requires a comprehensive analysi...

AI Technical Summary

Problems solved by technology

The lane-changing trajectory generated by the Bezier curve has a continuous radius of curvature, but control points need to be selected, which is only suitable for static planning, and it is difficult to realize real-time collision avoidance behavior in lane changing

The spline curve can re-plan the arc lane change trajectory and the sinusoidal lane change trajectory to overcome the shortcomings of the original curve, such as abrupt curvature and discontinuity, but it will lead to the inability to realize real-time control

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