基于虚拟车道线的智能车辆换道轨迹规划方法  

Lane Change Trajectory Planning Method of Intelligent Vehicle Based on Virtual Lane

作　　者：郭俊超 邵金菊[1] 袁俊凯 韩文祥 高松[1] Guo Junchao;Shao Jinju;Yuan Junkai;Han Wenxiang;Gao Song(Shandong University of Technology,Zibo 255000)

机构地区：[1]山东理工大学,淄博255000

出　　处：《汽车技术》2023年第11期19-26,共8页Automobile Technology

基　　金：山东省重大科技创新工程项目(2019JZZY010911)。

摘　　要：为实现智能车在无车道线或车道线不清晰的道路环境下的自主换道,提出一种基于虚拟车道线的换道轨迹规划方法。首先,通过构建虚拟车道线将道路划分成与主车朝向平行的多条车道,通过无碰撞换道最小航向角确定最佳车道。其次,根据当前车道和目标车道平均车速确定换道终点的状态,利用五次多项式并结合车辆运动学和动力学分析生成换道轨迹。最后,将所提出的算法加入自动驾驶车辆的智能规划决策模块中进行仿真和硬件在环测试,结果表明,该方法实现了无车道线环境下的自主换道功能,可提高车辆在复杂交通环境下行驶的安全性和行车效率。To make autonomous lane change for intelligent vehicles in the situations with no lane or unclear lane,this paper proposed a lane change trajectory planning method based on virtual lane lines.Firstly,a virtual lane was constructed to divide the road into lanes parallel to the vehicle orientation,the best lane was determined according to the minimum heading angle of collision-free lane change.Secondly,the lane change end state was determined according to the average vehicle speed of the current lane and the target lane.The lane change trajectory was generated using the quintic polynomial combined with vehicle kinematics and dynamics.The path planning algorithm proposed was added to the intelligent planning decision-making module of the intelligent vehicle for simulation and hardware-in-loop test.The results show that the method realizes the function of autonomous lane changing in the situations without lane and improve the safety and driving efficiency of the vehicle in complex traffic environment.

关 键 词：虚拟车道线 自主换道 轨迹规划 结构化道路 

分 类 号：U461.6[机械工程—车辆工程]