面向无人驾驶的车辆协同换道轨迹规划研究

换道轨迹规划是无人驾驶车辆核心功能模块之一。传统换道轨迹模型研究场景简单,较少考虑车辆间的相互影响。为此,综合考虑换道过程中车辆之间的相互作用,结合车辆运动特性,引入换道安全控制参量——车间间距,建立考虑前方障碍车辆的多项式协同换道轨迹模型。基于换道安全考虑,采用矩形构建车辆模型分析换道过程中车辆的几何关系。以换道车辆的几何特征角点与前方障碍车辆车尾的相对位置关系建立安全约束方程。与现有多车换道轨迹规划方法相比,轨迹方程形式简单,求解方便,换道安全控制参量物理意义直观明确。仿真实验验证了换道轨迹模型的可行性与合理性,研究结果为无人驾驶多车安全换道轨迹规划研究提供探索性研究。

Research on Collaborative Lane Changing Trajectory planning Considering the Immediate Front Obstacle Vehicle

Lane changing trajectory planning is one of the research focus in Intelligent Transportation Systems(ITS). Traditional lane changing trajectory planning models study relatively simple transportation situation and rarely take into account the interaction among vehicles. Given the interaction of vehicles during the process of lane changing, and combined with vehicle operation characteristics, a polynomial lane changing trajectory model considering the immediate front obstacle vehicle is established by introducing the control variable, , which features the initial longitudinal distance of the two involving vehicles. Furthermore, the model is based on the assumption that the front vehicle will not changes status abruptly so that impact the principle vehicle to implement lane changing. Rectangle is employed to represent vehicle model, enabling this model to reflect geometrical relationships of vehicles more realistically. The relationship between the right front corner and the right rear corner of the controlled vehicle and the tail of the front obstacle vehicle was utilized to set up constraint equations. In contrast with existing multivehicle lane changing trajectory planning approaches, not only does this model possesses the edge of simple form and low computational complexity, but also the control variable has completely intuitive and clear physical significance. Simulation results verify the feasibility and rationality of the lane changing trajectory model proposed in this paper, and this fruit provides a helpful reference for lane changing trajectory planning research.