基于自适应拟合的智能车换道避障轨迹规划

doi:10.19562/j.chinasae.qcgc.2023.07.008

Abstract

Abstract:

In this paper， the predictive trajectory planning of intelligent vehicles of lanes changing and obstacle avoidance in dynamic environment is studied. Firstly， the coordinate system and dynamic lane change and obstacle avoidance scenarios are defined， to determine the driving constraints of vehicle lane change and obstacle avoidance trajectory planning， and the controlled vehicle and obstacle vehicle models are built. Then， an adaptive piecewise Bezier curve-fitting algorithm is designed to fit the discrete point sequence of the lane change and obstacle avoidance trajectory planning. Further， the model predictive control algorithm is used to design the trajectory planning method for intelligent vehicles for lane changing and obstacles avoidance. Finally， the prediction trajectory planning method of the intelligent vehicle lane change and obstacle avoidance model in a dynamic environment is simulated and analyzed. The results show that the trajectory planning scheme of lane change and obstacle avoidance in this paper can enable the controlled vehicle to complete obstacle avoidance and maintain a stable state in dynamic environment. The adaptive piecewise Bezier curve fitting algorithm designed in this paper has a continuous and smooth fitting trajectory， and the fitting residual between the discrete point sequence provided by the lane change and obstacle avoidance trajectory planning and the corresponding point of the Bezier curve is kept within the set threshold.

Key words: intelligent vehicles, Bezier curves, model predictive control, dynamic obstacle avoidance, lane change trajectory planning

Jun Li, Wei Zhou, Shuang Tang. Lane Change and Obstacle Avoidance Trajectory Planning of Intelligent Vehicle Based on Adaptive Fitting[J].Automotive Engineering, 2023, 45(7): 1174-1183.

Figures/Tables 13

References 28

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参数	数值
质量m/kg	1 723
车辆绕z轴转动惯量I_z /（kg·m²）	4 175
车辆绕x轴转动惯量I_x /（kg·m²）	1 243
重力加速度g/（m·s^-2）	9.8
前轴到质心的距离a/m	1.232
后轴到质心的距离b/m	1.468
前轮等效侧偏刚度C_αf/（ N·rad^-1）	66 900
后轮等效侧偏刚度C_αr/ （ N·rad^-1）	62 700
车身长度L/m	4
车身宽度W/m	1.988

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Lane Change and Obstacle Avoidance Trajectory Planning of Intelligent Vehicle Based on Adaptive Fitting

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