面向量产的高速公路智能换道系统决策规划方法研究

doi:10.19562/j.chinasae.qcgc.2024.03.005

Abstract

Abstract:

The auto-lane change on highways is an important feature of the Advanced Driver Assistance System （ADAS）. The current algorithms are unable to balance lane-changing safety and smoothness under low computational hardware conditions. To solve the problem， a decision-making and planning method for auto lane-changing system on highways is proposed in this paper. Lane-changing decisions are made by dividing the lane changing collision risk into hierarchical danger zones， followed by the implementation of decoupled lateral and longitudinal planning. In the lateral planning， a two-stage fifth-order polynomial trajectory planning is designed to enhance safety and smoothness during the lane changing process. In the longitudinal planning， a PID-like algorithm is employed to enhance real-time planning for cruising conditions， while the Model Predictive Control （MPC） based on synchronized predictive time domains is employed for following conditions. By associating the lateral and longitudinal planning times to improve lane-changing smoothness， the design of cost function reduces computational complexity to meet low resource requirements. Through real vehicle comparison tests， this method has been validated to have high level of safety， smoothness， and user experience in various highway lane changing scenarios. Additionally， comparison results of static area storage and peak stack storage tests for the algorithm's resource utilization show a low hardware resource occupancy rate， meeting the requirements of low-computing-power controllers in terms of resource utilization.

Key words: intelligent lane-changing system, decoupled planning, two-stage lane-changing, model predictive control, synchronized time domain, mass-production

Yichao He,Shengjie Kou,He Tian,Hao Li,Yong Lu. Research on Decision-Making and Planning Method for Intelligent Highway Lane-Changing System for Mass Production[J].Automotive Engineering, 2024, 46(3): 418-430.

Figures/Tables 13

参数名称	数值
单个时间步长 $T$ /s	0.02
最大碰撞时间 $T T C m a x$ /s	20
高危险等级增益 $p l 1$	50
中危险等级增益 $p l 2$	10
低危险等级增益 $p l 3$	5
无危险等级增益 $p l 4$	2
危险时间阈值 $T r i s k$ /s	1.9
起始换道阶段最小换道时间 $t m i n 1$ /s	1.5
居中阶段最小换道时间 $t m i n 2$ /s	2
起始换道阶段最小预瞄距离 $x m i n 1$ /m	20
起始换道阶段最大预瞄距离 $x m a x 1$ /m	200
居中阶段最小预瞄距离 $x m i n 2$ /m	20
居中阶段最大预瞄距离 $x m a x 2$ /m	200
曲率补偿 $κ o f f s e t$	0
最小限制曲率 $κ h m i n$	-0.08
最大限制曲率 $κ h m a x$	0.08
驱动执行器效率 $η a$	0.95
制动执行器效率 $η b$	0.89
起始换道阶段时间同步调优因子 $λ 1$	1.2
居中阶段时间同步调优因子 $λ 2$	1.8
加速度变化率优化权重因子 $δ j$	0.08

速度误差/（m·s^-1）	-11	-7	-3.2	-0.9	0	0.9	3	15
$a u p$ /（m·s^-2）	-2.0	-1.3	-0.5	-0.3	0	0.4	0.8	1.6
$a l o w$ /（m·s^-2）	-2.5	-1.5	-0.8	-0.4	0	0.3	0.6	1.3

自车速度/（m·s^-1）	16.6	19.4	22.2	25	27.8	33.3
$t v 1$ /s	2.5	2.8	3.0	3.2	3.5	3.5
$t v 2$ /s	2.5	3.0	3.2	3.4	3.7	3.7

曲率半径/m	125	250	500	800	1 000
$t r 11$ /s	-1.0	-1.0	-1.0	-0.8	-0.5
$t r 12$ /s	0.4	0.3	0.2	0.1	0
$t r 21$ /s	-0.7	-0.6	-0.5	-0.4	-0.3
$t r 22$ /s	1.0	0.7	0.4	0.1	0

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Research on Decision-Making and Planning Method for Intelligent Highway Lane-Changing System for Mass Production

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