A Collaborative Planning Method for Lane-changing Trajectories of Intelligent Vehicles Based on Instantaneous Risk Assessment

Abstract

The invention discloses a method for collaborative planning of lane changing trajectory of intelligent vehicles based on instantaneous risk assessment, comprising: 1) acquiring basic traffic data: vehicle motion data, vehicle relative position information, vehicle geometric parameters, road geometric conditions and road friction coefficient; 2) Collect the motion trajectories of the surrounding vehicles to construct lane-changing samples, and use the fuzzy C clustering algorithm to extract the motion characteristics of the surrounding vehicles; 3) Based on the motion characteristics of the surrounding vehicles, predict the vehicle motion state and vehicle distance of the surrounding vehicles at time t; 4) Establish a safety discrimination model for lane changing conditions, and use the parking distance index to deduce the instantaneous risk index of vehicle operation; 5) Taking the minimization of the instantaneous risk as the objective function, the trapezoidal acceleration method and the genetic algorithm are used to plan the transverse and longitudinal motion trajectories of the vehicle respectively; 6) Through computer programming Implement the vehicle lane changing trajectory planning function. The invention can identify the lane changing safety in advance, and plan the vehicle lane changing trajectory, and provide theoretical reference and technical support for the vehicle lane changing trajectory planning system.

Description

technical field [0001] The present invention relates to the technical field of intelligent vehicle lane-changing risk assessment and lane-changing trajectory optimality, in particular to a collaborative planning method for intelligent vehicle lane-changing trajectory based on instantaneous risk assessment. Background technique [0002] Car-following behavior and lane-changing behavior are the two most common driving behaviors when a vehicle is driving on a highway. When the driver intends to perform a lane-changing behavior, the driver needs to consider the distance between the surrounding vehicles, the operating status, the road alignment, and the road usage. A series of traffic environment factors such as traffic conditions and traffic speed limit management, make a reasonable analysis and judgment on whether to execute lane change, when to change lane and how to change lane. Once the driver makes a wrong judgment on the feasibility of safe lane changing, it is very easy t...

AI Technical Summary

Problems solved by technology

After induction, the shortcomings are mainly manifested in: ①Most models only consider the safety of the current traffic environment, and it is difficult to assess the risk of lane change in advance; ②Most models focus on the performance of the lane change trajectory itself, and seldom consider lane change Game relationship between vehicle and surrounding vehicles and their interaction

Images