Lane changing trajectory planning method considering vehicle dynamics

Abstract

The invention discloses a lane changing trajectory planning method considering vehicle dynamics. The method comprises the steps that S1, a planning period sequence (tau 0, tau 1,..., tau i,..., tau n-1) is set; s2, in the planning period tau 0, front wheel turning angle information during lane changing of the vehicle is collected, and a front wheel turning angle sequence is formed; s3, the front wheel steering angle sequence is processed according to the vehicle dynamics principle, and state information of the vehicle is obtained; s4, track conversion is conducted on the state information of the vehicle, and a lane changing track of the vehicle is generated; s5, the lane changing tracks are screened, the lane changing tracks meeting the screening requirement are obtained, and the lane changing tracks meeting the screening requirement serve as planning tracks in the planning period tau 0; s6, according to the steps S2-S5, planning trajectories in the planning periods tau 1,..., tau i,..., and tau n-1 are obtained in sequence; and S7, the planning trajectories in the planning periods tau 0, tau 1,..., tau i,... and tau n-1 are combined in sequence to form a final lane changing trajectory. According to the method, a smoother lane changing track can be obtained, and the requirements for comfort, safety, purposiveness and efficiency in the lane changing process are met.

Description

technical field [0001] The invention relates to the field of vehicles, in particular to a lane-changing trajectory planning method considering vehicle dynamics. Background technique [0002] In recent years, autonomous driving technology has developed rapidly, and autonomous driving has brought greater convenience to people's travel. Among them, the optimal design enables automatic driving to achieve safe and reliable lane-changing trajectory planning has become a hot spot and focus of current research. [0003] At present, there are many methods for lane change trajectory planning, among which there are planning methods based on graph search, methods based on sampling, interpolation curve planning methods, and numerical optimization methods, etc., but some of these methods are computationally complex and consume a lot of energy. The results can only be obtained with sufficient resources; some methods can not achieve optimal planning results, and cannot obtain optimal lane ...

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Problems solved by technology

[0003] At present, there are many methods for lane change trajectory planning, among which there are planning methods based on graph search, methods based on sampling, interpolation curve planning methods, and numerical optimization methods, etc., but some of these methods are computationally complex and consume a lot of energy. The results can only be obtained with sufficient resources; some methods can not achieve optimal planning results, and cannot obtain optimal lane change trajectories; some methods have generated tortuous paths and due to random sampling, it is difficult for vehicles to track trajectories, which is safe. poor sex

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