无人车“三阶段”换道轨迹规划过程分析

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英文篇名：Three-stage lane-changing trajectory planning method for automated vehicles 作者：柏海舰 ; 申剑峰 ; 卫立阳 英文作者：BAI Haijian;SHEN Jianfeng;WEI Liyang;School of Automobile and Traffic Engineering, Hefei University of Technology; 关键词：无人车 ; 换道 ; 轨迹规划 ; 五次多项式 ; 动态仿真 英文关键词：automated vehicle;;lane change;;trajectory planning;;quintic polynomial;;dynamic simulation 中文刊名：HEFE 英文刊名：Journal of Hefei University of Technology(Natural Science) 机构：合肥工业大学汽车与交通工程学院; 出版日期：2019-05-28 出版单位：合肥工业大学学报(自然科学版) 年：2019 期：v.42;No.313 基金：国家自然科学基金资助项目(51308176) 语种：中文; 页：HEFE201905001 页数：9 CN：05 ISSN：34-1083/N 分类号：7-14+106

摘要

文章在换道过程分析研究的基础上,将换道轨迹规划过程分为换道方案生成阶段、变速调整阶段和匀速换入阶段3个阶段;将局部动态规划变成拟静态规划,考虑了无人车机器的反应时间,使实际换道执行时间更加准确。该文在车辆运动学约束和G2连续要求下控制车辆换道轨迹,在变速调整阶段控制主车加速度使得主车到达换道速度和换入位置,在匀速换入阶段运用五次多项式换道轨迹规划方法规划匀速换入的轨迹。通过仿真分析,发现该文提出的换道轨迹满足车辆实际运行要求,在动态仿真过程中证明了换道轨迹安全可行;与传统五次多项式规划轨迹比较,该文提出的换道轨迹规划过程可以提高换道成功率。
        Based on the analysis of lane-changing process, the lane-changing trajectory planning process is divided into three stages: the generation stage of lane-changing planning, speed adjustment stage and uniform lane-changing stage. The local dynamic planning is replaced by quasi static planning and the reaction time of automated vehicle machine is considered, so the actual execution time of lane change is more accurate. In this paper, the lane-changing trajectory is generated under vehicle kinematics constraints and G2 continuous requirements. Through controlling the acceleration of subject vehicle in speed adjustment stage, the subject vehicle can reach the lane-changing speed and lane-changing position. Then the quintic polynomial trajectory planning method is applied to planning lane-changing trajectories in uniform lane-changing stage. Finally, the simulation analysis shows that the lane-changing trajectory meets the vehicle operation requirements, and the dynamic simulation proves that the lane-changing trajectory is safe and feasible. Compared with the traditional quintic polynomial trajectory, it is also shown that the proposed lane-changing trajectory can increase the success rate of lane change.

引文

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