一种实用的自动驾驶汽车动态变道轨迹规划模型

Yonggang Liu, Xiao Wang, Liang Li, Shuo Cheng, Zheng Chen
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引用次数: 0

摘要

自动变道是自动驾驶汽车控制系统中一个复杂而重要的组成部分。现有的自动驾驶汽车技术研究主要集中在避障问题上,而对动态变道问题的研究较少。此外,现有的动态变道模型都是建立在一定的假设基础上的。考虑到实际道路不是一条完整的直线,无法准确建立道路的功能,本文建立了基于离散全局轨迹点的三次多项式路径规划模型。然后,为了保证轨迹的安全性、舒适性和高效性,提出了一种全方位的轨迹优化函数。最后进行了仿真验证。实验结果表明,该方法能生成较好的变道轨迹。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Pragmatic Dynamic Lane-changing Trajectory Planning Model for Autonomous Vehicles
Automatic lane change is a complex and essential part of autonomous vehicle control. Existing researches on autonomous vehicle technology mainly focused on avoiding obstacles, but few studies have focused on the issue of dynamic lane change. Moreover, existing dynamic lane-changing models were based on some certain assumptions. Considering that the actual road is not a complete straight line and the function of the road cannot be accurately established, this paper establishes a cubic polynomial path planning model based on discrete global trajectory points. Then, in order to ensure the trajectory’s safety, comfort and efficiency, an all-sided trajectory optimization function is proposed. At last, simulation verifications are carried out. Results show that the proposed method can generate a splendid lanechanging trajectory.
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