基于双五次多项式的智能汽车换道轨迹规划

doi:10.19562/j.chinasae.qcgc.2021.07.004

Abstract

Abstract:

In order to meet the requirements of safety and comfort during lane changing of the intelligent vehicle， an intelligent vehicle lane changing trajectory planning algorithm based on double quintic polynomials is proposed. The quintic polynomial programming algorithm is improved with the condition of dynamic programming of lane changing time and increased comfort constraints. On this basis， the transit state is calculated by combining the current environment and the beginning and end states of the lane changing， and the twice improved quintic polynomial algorithm is used to avoid collision with the vehicle in front. The simulation and experiment results of trajectory planning and trajectory tracking show that the proposed double quintic polynomials lane changing trajectory planning algorithm has advantages in lateral velocity， acceleration， acceleration rate of change and running time of the algorithm under different working conditions. In addition， the trajectory obtained can also meet the requirements of vehicle lane changing under the actual situation， with improved safety and good handling stability， which proves that the algorithm has certain practical application value.

Key words: intelligent vehicle, lane changing, trajectory planning, double quintic polynomials, trajectory tracking

Guochen Niu,Wenshuai Li,Hongxu Wei. Intelligent Vehicle Lane Changing Trajectory Planning Based on Double Quintic Polynomials[J].Automotive Engineering, 2021, 43(7): 978-986.

Figures/Tables 17

参数	数值
车辆长度/m	4.50
车辆宽度/m	1.75
整车质量/kg	1 270
质心到前轴距离/m	1.30
质心到后轴距离/m	1.60
转动惯量/（kg· $m - 2$ ）	3 610
前后轮胎滑移率	0.15
道路宽度/m	3.75
换道纵向位移/m	100
横向加速度最值/（ $m · s - 2$ ）	2.00
纵向加速度最值/（ $m · s - 2$ ）	2.50

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Intelligent Vehicle Lane Changing Trajectory Planning Based on Double Quintic Polynomials

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