一种结合驾驶员风险和车辆失稳风险的局部路径规划方法  

A Local Path Planning Method Combining Driver Risk and Vehicle Instability Risk

作　　者：钱灏喆 孙文 赵景波[1,2] 郑剑锋 王军年[3] Qian Haozhe;Sun Wen;Zhao Jingbo;Zheng Jianfeng;Wang Junnian(Changzhou University,Changzhou 213164;Changzhou Institute of Technology,Changzhou 213001;National Key Laboratory of Automotive Chassis Integration and Bionics,Jilin University,Changchun 130025)

机构地区：[1]常州大学,常州213164 [2]常州工学院,常州213001 [3]吉林大学,汽车底盘集成与仿生全国重点实验室,长春130025

出　　处：《汽车技术》2023年第11期8-18,共11页Automobile Technology

基　　金：国家自然科学基金项目(62273061,52272365);吉林省中青年科技创新创业卓越人才(团队)项目(创新类)(20230508050RC);吉林省自然科学基金项目(20220101200JC);江苏省高等学校基础科学(自然科学)研究重大项目(22KJA580001);江苏省高等学校基础科学(自然科学)研究面上项目(22KJB580001);常州市科技计划项目(CZ2022030)。

摘　　要：针对目前智能车缺乏驾驶员主观驾驶的操作认知,对交通参与者风险认识不足的问题,提出了一种基于改进驾驶员风险场(DRF)的轨迹规划算法。首先,对车辆所处位置进行笛卡尔坐标系至Frenet坐标系的坐标转换,直观地表示车辆与道路之间的位置信息;其次,构建融合车辆稳定性风险的驾驶员风险场模型,以驾驶员视角感知交通参与者的风险;最后,考虑驾乘者的舒适性需求,基于五次和四次多项式轨迹对感知的风险势能高点进行避障操作。仿真和硬件在环测试结果表明:规划的轨迹在满足避障功能的同时,满足加速度约束条件,兼顾行车安全性和舒适性。For the problem that intelligent vehicles lack the driver’s subjective driving operation cognition and the risk cognition of traffic participants,this paper proposed a trajectory planning algorithm based on improved Driver Risk Field(DRF).Firstly,the coordinate transformation from Cartesian coordinate system to Frenet coordinate system was carried out for the position of the vehicle,which visually represented the position information between the vehicle and the road;Secondly,a driver risk field model integrating vehicle stability risk was constructed to perceive the risk of traffic participants from the driver’s perspective;Finally,considering the comfort needs of drivers and passengers,obstacle avoidance operations were performed on the perceived risk potential energy high points based on quintic and quartic polynomial trajectories.The simulation and hardware-in-the-loop test results show that the planned trajectory meets both the obstacle avoidance function and the acceleration constraints,ensuring the safety and comfort of driving.

关 键 词：Frenet坐标系 驾驶员风险场 失稳风险 舒适性 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] U461[自动化与计算机技术—控制科学与工程]