一种无人车无信号保护路口左转规划方法  

A left turn planning method for driverless vehicles at unsignalized intersections

作　　者：夏志远 黄妙华[1,2,3] 李其仲[1,2,3] XIA Zhiyuan;HUANG Miaohua;LI Qizhong(Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China;Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China;Hubei Research Center for New Energy and Intelligent Connected Vehicle, Wuhan University of Technology, Wuhan 430070, China)

机构地区：[1]武汉理工大学现代汽车零部件技术湖北省重点实验室,湖北武汉430070 [2]武汉理工大学汽车零部件技术湖北省协同创新中心,湖北武汉430070 [3]武汉理工大学湖北省新能源与智能网联车工程技术研究中心,湖北武汉430070

出　　处：《合肥工业大学学报（自然科学版）》2022年第5期665-672,共8页Journal of Hefei University of Technology：Natural Science

基　　金：国家重点研发计划资助项目(2018YFC0808405);政府间国际科技创新合作重点专项资助项目(SQ2018YFGH000405);中央高校基本科研业务费资助项目(205207002)。

摘　　要：为解决无人驾驶车辆在无信号保护路口左转规划中高效性与安全性相矛盾的问题,文章参考路径-速度解耦规划思路,提出一种左转规划区对角线分割(diagonal division of the planning area of left turns,DDPALT)的路径生成方法,结合基于部分可观察马尔可夫决策过程(partially observable Markov decision process,POMDP)的速度规划方法分别进行路径与速度规划,实现在环境车辆驾驶意图不确定情形下安全高效的左转规划。利用PreScan和MATLAB/Simulink联合仿真对文中提出的方法进行验证,结果表明,该方法能够让无人驾驶车辆在不确定环境中选择合适的路径并安全高效地完成左转。In order to solve the contradiction between efficiency and safety in the left turn planning of driverless vehicles at unsignalized intersections,a path generation method of diagonal division of the planning area of left turns(DDPALT)is proposed based on the path-speed decoupling planning idea.Combined with the speed planning method based on the partially observable Markov decision process(POMDP),the path and speed planning are carried out separately to realize safe and efficient left turn planning under the situation of uncertain driving intention of environmental vehicles.The proposed algorithm is verified by the joint simulation of PreScan and MATLAB/Simulink.The results show that the proposed method can make the driverless vehicle choose the appropriate path in uncertain environment and complete the left turn safely and efficiently.

关 键 词：无人驾驶车辆 无信号路口 左转规划 交通安全 部分可观察马尔可夫决策过程(POMDP) 

分 类 号：U491.2[交通运输工程—交通运输规划与管理]