A lane-changing trajectory planning method for unmanned vehicles based on vehicle-vehicle coordination

Abstract

The present invention discloses a lane-changing trajectory planning method for unmanned vehicles based on vehicle-vehicle collaboration. Taking into account the complexity of vehicle lane-changing in an unmanned driving environment and the frequent turning and lane-changing characteristics of urban road sections, a lane-changing process is proposed Based on the vehicle-vehicle collaboration strategy and trajectory planning method in the vehicle; based on the lane-changing collaboration strategy and the fifth-order polynomial trajectory planning method, and with vehicle kinematics and comfort as control conditions, the main vehicle behind the target lane under different degrees of collaboration is established. Vehicle lane changing trajectory optimization model; at the same time, taking into account the shortcomings of traditional elliptical and circular vehicle simulation models, by analyzing the boundary relationship between possible collision points and vehicle outlines, the collision avoidance boundary conditions under the rectangular vehicle model were established. The scenario tested the vehicle lane changing trajectory model. Under the condition of vehicle-to-vehicle cooperation, the present invention can complete safe lane changing of vehicles in an unmanned driving environment, and at the same time can meet the requirements of lane changing comfort and dynamics.

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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