Anthropomorphic trajectory planning method for intelligent vehicles based on lateral quantization balance index

Abstract

This application relates to the field of smart car application technology, in particular to an anthropomorphic trajectory planning method for smart cars based on lateral quantization balance indicators, including: establishing the maximum value of lateral acceleration and the maximum lateral displacement of the lane change during the lane change process. The first linear relationship between the duration, the second linear relationship between the maximum lateral velocity and the maximum lateral displacement of the lane change, and the second linear relationship between the lane change duration; based on the first linear relationship and the second linear relationship, the lateral quantization balance index is obtained calculation model; when applying the lateral quantization balance index to the smart car, based on the calculation model of the lateral quantization balance index, the lateral quantization balance index of each lane-changing trajectory in the lane-changing trajectory cluster is obtained, and then the optimal lane-changing is selected. trajectory and realize anthropomorphic lane-changing trajectory planning. Therefore, it provides a reference for intelligent vehicles to make scientific and reasonable lane-changing decisions.

Description

technical field [0001] The present application relates to the technical field of intelligent vehicle applications, and in particular, to a anthropomorphic trajectory planning method for an intelligent vehicle based on a lateral vectorized balance index. Background technique [0002] In a mixed traffic environment where manual driving and autonomous driving are mixed, the lane-changing behavior of autonomous vehicles is affected by the surrounding traffic vehicles, especially the uncertainty of human-driven vehicles, which makes the lane-changing behavior of autonomous driving very complex. [0003] In the related art, the lateral motion and the longitudinal motion during the lane changing process are usually decoupled and controlled, and the longitudinal driving and lateral driving behaviors of the lane changing are planned and controlled respectively. The lateral motion characteristics of the lane-changing process are closely related to the vehicle safety, comfort and effic...

AI Technical Summary

Problems solved by technology

[0004] This application provides an anthropomorphic trajectory planning method for intelligent vehicles based on lateral quantization balance indicators, in order to solve the problems commonly used in consideration of safety, efficiency and comfort in intelligent vehicle lane change trajectory planning solutions in related intelligent vehicle technologies The weighted evaluation method does not have a strong ability to represent the trajectory anthropomorphic performance, and the weight calibration is difficult and there are problems such as poor interpretability of the evaluation index. A lateral quantification balance index (Lateral quantification balance index, LQB index) is an objective quantitative evaluation measure of the anthropomorphic degree of lane-changing trajectories of smart cars. Evaluation of the anthropomorphic degree of the vehicle lane-changing trajectory model provides reference for the scientific and reasonable lane-changing decision-making of smart cars. embodiment of

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