Automatic overtaking trajectory planning method for unmanned vehicle

A trajectory planning, unmanned vehicle technology, applied to vehicle components, input parameters of external conditions, control devices, etc., can solve the problem of not considering the impact, ignoring the overtaking habits and driving intentions of human drivers, to ensure safety and reliability. sexual effect

Inactive Publication Date: 2019-08-09
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, although the above two invention patents have established overtaking conditions and can dynamically generate overtaking trajectories, they ignore the o

Method used

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  • Automatic overtaking trajectory planning method for unmanned vehicle
  • Automatic overtaking trajectory planning method for unmanned vehicle
  • Automatic overtaking trajectory planning method for unmanned vehicle

Examples

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Embodiment Construction

[0055] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0056] This embodiment adopts an unmanned vehicle equipped with a Velodyne 16-line three-dimensional laser radar and a W221 wheel speed sensor.

[0057] Such as figure 1 As shown, the environment perception unit collects the traffic environment information around the vehicle, the speed acquisition unit collects the speed information of the vehicle, the data processing unit processes the collected state information of the vehicle and the vehicle in front, and the overtaking behavior decision-making unit determines that the vehicle performs After the overtaking operation, the overtaking trajectory planning unit generates and updates the overtaking trajectory in real time, and finally displays it on the cockpit display.

[0058] Such as figure 2 As shown, a three-dimensional lidar-based autonomous vehicle overtaking trajectory planning system...

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Abstract

The invention provides an automatic overtaking trajectory planning method for an unmanned vehicle. The automatic overtaking trajectory planning method comprises the following steps: historical overtaking data under a manual driving state are selected to establish an overtaking intent model according with human driver habits; under the unmanned driving state, whether the overtaking intent is generated or not is determined according to information collected by a vehicle-borne three-dimensional laser radar and a wheel speed sensor in real time; according to the collision time, whether the overtaking condition is met or not is judged; whether overtaking operation is executed or not is manually determined; overtaking trajectories meeting safety and comfort constraints are automatically planned;and the overtaking trajectories are dynamically updated and displayed on a driving cab display screen. Compared with the prior art, based on overtaking habits of a human driver, influences of the physical dimension and motion state of a front vehicle on the overtaking intent and trajectory planning of the vehicle are taken into full consideration, the optimal overtaking trajectory is selected, the overtaking accident is effectively avoided, and thus the automatic overtaking trajectory planning method is suitable for being used and popularized.

Description

technical field [0001] The invention relates to the field of intelligent driving and active safety, in particular to a method for planning an automatic overtaking trajectory of an unmanned vehicle. Background technique [0002] Overtaking is a common driving behavior in the process of vehicle driving. Relevant statistics show that road traffic accidents caused by overtaking account for about 20% of the total number of accidents every year, most of which are caused by human factors. During the overtaking process, due to the limitations of their own perception ability, it is difficult for human drivers to accurately obtain the surrounding driving environment information, and fail to plan the overtaking trajectory reasonably, thus causing traffic accidents. Unmanned vehicles can obtain rich environmental information through on-board perception sensors, and plan safe driving trajectories in real time in combination with changes in the driving conditions of the vehicle and surrou...

Claims

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Application Information

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IPC IPC(8): B60W30/12B60W30/18B60W40/105B60W40/107B60W50/00B60W50/14
CPCB60W30/12B60W30/18163B60W40/105B60W40/107B60W2050/0043B60W2050/146B60W2554/80B60W2554/801
Inventor 张名芳李华建王力王庞伟闫佳庆龚博
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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