Lane-changing trajectory planning method for automatic driving based on quadratic programming and neural network

Abstract

The invention belongs to the field of intelligent transportation, and provides an automatic driving lane change trajectory planning method based on quadratic form planning and a neural network. The method provided by the invention comprises the steps of: obtaining driving information of a lane change vehicle and surrounding vehicles by using an information sensing module; providing, by a lateral deviation recommendation module, a lateral deviation value based on the vehicle driving information so as to determine starting point and ending point position information of the lane change vehicle; calculating, by a path planning module, a static lane change path in a plane coordinate system of the lane change vehicle by using the vehicle driving information and the lateral deviation as input; and finally, providing, by a trajectory planning module, a time varying change law of the lane change vehicle and the surrounding vehicles to complete the target of lane change process planning. By adopting the automatic driving lane change trajectory planning method provided by the invention, under the premise of ensuring the safety of the lane change vehicle, the movement trajectories of the lanechange vehicle and the surrounding vehicles are comprehensively considered, and fast solution is achieved by using the quadratic form planning to improve the speed and comfort of the lane change process, thereby satisfying the requirements of automatic driving for the lane change sub-task optimization solution fastness.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a method for planning lane-changing trajectories for automatic driving based on quadratic planning and neural networks. Background technique [0002] With the deepening of China's urbanization process, traffic accidents and traffic congestion caused by the surge of urban vehicles have further aggravated. Autonomous driving has shown great potential in reducing traffic accidents and alleviating traffic congestion, and has become a research hotspot for major automakers. Lane-changing behavior is one of the basic behaviors in vehicle driving, and its research is of great significance for improving the intelligent driving level of vehicles and increasing road traffic capacity. [0003] Lane-changing trajectory planning refers to the vehicle, in order to obtain the speed advantage or due to driving needs, etc., comprehensively consider the position, speed and acceleration of...

AI Technical Summary

Problems solved by technology

However, at present, there is no standard and fast solution method for non-convex optimization problems, and heuristic algorithms are often used to solve them, which cannot meet the absolute safety and real-time requirements of lane-changing trajectories in automatic driving.

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