Automatic driving lane changing preparation and execution integrated trajectory planning method

Abstract

The invention discloses an automatic driving lane changing preparation and execution integrated trajectory planning method. The method comprises the following steps: establishing a motion trajectory model of a lane changing vehicle in a lane changing preparation process; introducing a cubic polynomial to establish a trajectory equation of the lane changing vehicle in a lane changing execution process; establishing a safe distance model and a safe speed model in the lane changing preparation and lane changing execution processes; and establishing an integrated trajectory optimization model, andoptimizing the time and the acceleration in the lane changing preparation and execution processes to obtain a most trajectory meeting safety, efficiency and comfort requirements. An integrated lane changing trajectory set is established according to the vehicle motion characteristics, a safe lane changing trajectory set meeting lane changing safety requirements is chosen by using safety constraints, and finally the trajectories are optimized by considering the lane changing comfort and efficiency to obtain the optimal integrated trajectory meeting safety, comfort and efficiency requirements.The optimal lane changing trajectory planned in the invention has a high service level, and ensures that passengers have high comfort experiences and high efficiency experiences.

Description

technical field [0001] The invention relates to a trajectory planning method integrating lane change preparation and execution in automatic driving. Background technique [0002] In recent years, autonomous driving has received more and more attention and is considered as an important technology to alleviate traffic congestion, reduce traffic accidents and environmental pollution. Many companies and universities have also started research and completed a large number of vehicle tests, but the test environment is relatively simple and cannot guarantee the safety of the vehicle in real and complex traffic environments. Taking Tesla as an example, the vehicle was tested in 2016 There were seven traffic accidents, including two fatal accidents. It can be seen that the existing automatic driving technology still needs further research and improvement. Vehicle lane change is one of the basic operations of vehicle driving, and it is also an important cause of traffic accidents. A...

AI Technical Summary

Problems solved by technology

In February 2016, Google's self-driving vehicle collided with a bus while turning left. The cause of the accident was the imperfect lane-changing technology of the self-driving vehicle. It can be seen that the lane-changing technology of the self-driving vehicle is still immature and needs to be improved. further research and refinement

[0011] In summary, the existing research on lane change of autonomous vehicles often separates lane change decision and lane change execution, ignoring the connection between decision-making and execution process

In addition, there is very little research on lane change preparation for autonomous vehicles, ignoring the important role of lane change preparation

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