Lane-changing trajectory optimization method and system for automatic driving

A technology for automatic driving and trajectory optimization, applied in design optimization/simulation, combustion engine, internal combustion piston engine, etc., can solve the problems of lack of real-time feedback optimization control of vehicle lane changing, poor practicability of driving environment, etc., to improve self-adjustment and trajectory The effect of optimizing ability, ensuring safe execution, and strong adaptability

Active Publication Date: 2021-01-19
RES INST OF HIGHWAY MINIST OF TRANSPORT +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, at present, scholars have proposed a horizontal and vertical vehicle lane change execution model, which separates the two directions of lane change execution, and lacks real-time feedback optimization control of the whole process of vehicle lane change, which leads to complex problems. Poor driving environment practicality

Method used

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  • Lane-changing trajectory optimization method and system for automatic driving
  • Lane-changing trajectory optimization method and system for automatic driving
  • Lane-changing trajectory optimization method and system for automatic driving

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Experimental program
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Embodiment 1

[0045] This embodiment provides an automatic driving lane change trajectory optimization model, based on the lane change space constraints, through the relationship between the lateral acceleration value of the automatic driving vehicle, the lane change duration, and the lane change trajectory The relationship between the length of the lane, the influence degree of the lane change trajectory, the longitudinal acceleration value of the automatic driving vehicle, and the horizontal space required for the lane change of the automatic driving vehicle, the lane change trajectory, and the required space for the horizontal direction, The influence degree of the lane change trajectory is configured.

[0046] This embodiment provides a method for optimizing lane-changing trajectory of automatic driving, the steps are:

[0047] Collect the driving data of the automatic driving vehicle, input the driving data into the above-mentioned automatic driving lane change trajectory optimization ...

Embodiment 2

[0075] The features of this embodiment that are the same as those of Embodiment 1 will not be described in detail. The features of this embodiment that are different from Embodiment 1 are:

[0076] The automatic driving vehicle is specifically an autonomous driving vehicle, and the construction of the automatic driving lane change trajectory optimization model includes:

[0077] During the lane changing process of the self-driving vehicle, due to the influence of the surrounding vehicles, the lane changing demand may be met in the initial state, but the lane changing demand cannot be met during the lane changing execution process. Therefore, when a vehicle changes lanes, it is necessary to detect in real time whether its lane-changing space meets its lane-changing requirements. If the requirements are met, the original lane-changing scheme can be used to change lanes, but if the requirements cannot be met, it is necessary to adjust its model parameters or control in time strat...

Embodiment 3

[0129] The same features of the present embodiment and the second embodiment will not be repeated, and the different features of the present embodiment and the second embodiment are:

[0130] The autonomous driving model is adapted to the UC-winRoad driving simulator.

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Abstract

The invention relates to an automatic driving lane changing track optimization model, an automatic driving lane changing track optimization method and an automatic driving lane changing track optimization system. According to the actual space size of the current lane change, the actual situation of information processing time delay of the automatic driving vehicle is considered meanwhile, the transverse direction and the longitudinal direction of lane changing execution are combined for configuring a complete lane changing track optimization model in a lane changing execution process. Throughthe lane changing trajectory optimization model, the self-adjustment and trajectory optimization capabilities of the automatic driving vehicle are improved; real-time feedback optimization control iscarried out on the whole lane changing process; safe execution of lane changing is ensured; when the model is constructed, the operation characteristics of lane changing in an actual and changeable traffic environment are combined; therefore, it can be ensured that the operation parameters generated by the automatic driving lane changing trajectory optimization model are accurately attached to thelane changing execution traffic scene where the automatic driving vehicle is actually located, the defects that the difference between the constructed model and the actual traffic scene is large andthe constructed model cannot be directly used are thoroughly overcome, and the adaptability is high.

Description

technical field [0001] The invention belongs to the field of autonomous driving, and in particular relates to an automatic driving lane-changing trajectory optimization model, a lane-changing trajectory optimization method and a system thereof. Background technique [0002] During the lane changing process of the self-driving vehicle, due to the influence of the surrounding vehicles, the lane changing demand may be met in the initial state, but the lane changing demand cannot be met during the lane changing execution process. Therefore, when a vehicle changes lanes, it is necessary to detect in real time whether its lane-changing space meets its lane-changing requirements. If the requirements are met, the original lane-changing scheme can be used to change lanes, but if the requirements cannot be met, it is necessary to adjust its model parameters or control in time strategy to adapt to the lane-changing space in the current state. [0003] In order to ensure the safe execu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20B60W30/18B60W60/00
CPCB60W30/18163B60W2050/0028Y02T10/40
Inventor 毛琰谭墍元郭伟伟李颖宏王亚兵矫成武敏钥
Owner RES INST OF HIGHWAY MINIST OF TRANSPORT
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