计及安全性与舒适性的智能车辆换道轨迹规划研究

doi:10.16097/j.cnki.1009-6744.2024.01.006

交通运输系统工程与信息 ›› 2024, Vol. 24 ›› Issue (1): 55-65.DOI: 10.16097/j.cnki.1009-6744.2024.01.006

• 智能交通系统与信息技术 • 上一篇下一篇

计及安全性与舒适性的智能车辆换道轨迹规划研究

陈峥¹，赵文龙¹，郭凤香^*1，赵志刚²，刘昱³，刘永刚⁴

1. 昆明理工大学，交通工程学院，昆明 650500；2. 北京航天发射技术研究所，北京 100000； 3. 中国汽车技术研究中心有限公司，天津 300300；4. 重庆大学，机械传动国家重点实验室，重庆 400044

收稿日期:2023-11-07 修回日期:2023-12-10 接受日期:2023-12-19 出版日期:2024-02-25 发布日期:2024-02-11
作者简介:陈峥(1982- )，男，山东潍坊人，教授，博士
基金资助:
国家自然科学基金 (52272395)

Lane Change Trajectory Planning of Intelligent Vehicle Considering Safety and Comfort

CHEN Zheng¹, ZHAO Wenlong¹, GUO Fengxiang^*1, ZHAO Zhigang², LIU Yu³, LIU Yonggang⁴

1. Faculty of Transportation Engineering, Kunming University of Science and Technology, Kunming 650500, China; 2. Beijing Institute of Space Launch Technology, Beijing 100000, China; 3. China Automotive Technology and Research Center Co. Ltd, Tianjin 300300, China; 4. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China

Received:2023-11-07 Revised:2023-12-10 Accepted:2023-12-19 Online:2024-02-25 Published:2024-02-11
Supported by:
National Natural Science Foundation of China (52272395)

摘要/Abstract

摘要： 针对当前智能车辆在换道过程中的安全性以及乘员舒适性问题，本文提出一种基于风险场评估轨迹的二次筛选方法。首先，在Frenet坐标系下，将车辆运动解耦为横向和纵向两个维度，基于五次多项式生成所有横向d-t曲线簇和纵向s-t曲线簇；其次，由车辆的动力学特性和三圆碰撞模型设计轨迹初筛评价函数，选取合格轨迹作为候选轨迹；最后，参考人工势场理论的思想，引入行车过程中风险场的概念，根据换道效率，换道风险值和横、纵向冲击度建立总损失函数评价候选轨迹以进行二次筛选，选取最佳轨迹并完成可视化。为检验算法的可行性，通过搭建双车道的道路环境，设计障碍车不同速度和加速度的多场景进行弯道换道的仿真验证。研究结果表明，本文所提算法能够满足换道的安全性和舒适性需求。同时，在正常换道场景下，乘员在换道过程的97.5%时间处于舒适状态，在紧急避障场景下也能达到平衡安全性与舒适性的目标。

关键词: 智能交通, 换道轨迹规划, 风险场, 智能车辆, Frenet坐标系, 乘员舒适性

Abstract: Aiming at improving the safety and passenger comfort of intelligent vehicles during lane change, a secondary screening method based on risk field evaluation trajectory was proposed. Firstly, in Frenet coordinate system, the vehicle motion is decoupled into lateral and longitudinal dimensions, and all lateral d-t curve clusters and longitudinal s-t curve clusters are generated based on quintic polynomials. Secondly, based on the dynamic characteristics of the vehicle and the three-circle collision model, the preliminary screening evaluation function of the trajectory is designed, and the qualified trajectory is selected as the candidate trajectory. Finally, referring to the idea of artificial potential field theory, the concept of risk field in the driving process is introduced, and the total loss function is established to evaluate candidate trajectories according to lane change efficiency, lane change risk value and lateral and longitudinal impact degree for secondary screening, and the optimal trajectories are selected and visualized by coordinate conversion. In order to test the feasibility of the algorithm, a two-lane road environment was built, and multiple scenes with different speeds and accelerations of obstacle vehicles were designed to simulate and verify the curve lane change. The results show that the proposed algorithm can meet the safety and comfort requirements of vehicle lane changing. At the same time, in the normal lane change scenario, the passengers are in a comfortable state in 97.5% of the time during the lane change process, and the goal of balancing safety and comfort can also be achieved in the emergency obstacle avoidance scenario.

Key words: intelligent transportation, lane change trajectory planning, risk field, intelligent vehicles, Frenet coordinate system, passenger comfort

中图分类号:

陈峥, 赵文龙, 郭凤香, 赵志刚, 刘昱, 刘永刚. 计及安全性与舒适性的智能车辆换道轨迹规划研究[J]. 交通运输系统工程与信息, 2024, 24(1): 55-65.

CHEN Zheng, ZHAO Wenlong, GUO Fengxiang, ZHAO Zhigang, LIU Yu, LIU Yonggang. Lane Change Trajectory Planning of Intelligent Vehicle Considering Safety and Comfort[J]. Journal of Transportation Systems Engineering and Information Technology, 2024, 24(1): 55-65.

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计及安全性与舒适性的智能车辆换道轨迹规划研究

Lane Change Trajectory Planning of Intelligent Vehicle Considering Safety and Comfort

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