The invention discloses a vehicle sectional type real-time lane change trajectory planning method, which is used for planning a trajectory of a vehicle A changing a lane from a lane I to a lane II through a lane line L. The method comprises the following steps: calculating a state range of a transit position of the vehicle A on the lane line L according to states of the vehicle A and a vehicle B1 in front of the vehicle A on the lane I; modeling a plurality of indexes of the first section of the lane changing process into an optimal control problem based on the range of the lane changing starting point state and the transfer position state of the vehicle A, and optimally calculating the track of the first section of the lane changing process; when the vehicle arrives at the transfer position, the terminal point state range of the vehicle A in the lane II is calculated according to the states of the front vehicle B2 and the rear vehicle B3 at the target position of the lane II; and generating a plurality of tracks by utilizing a quintic polynomial, and selecting an optimal track as a track of a second section of lane changing process by considering a plurality of indexes. According to the method, the lane changing track is planned in a segmented mode, and energy-saving, comfortable and safe lane changing of the electric vehicle under the dynamic traffic scene is achieved.

    本发明公开了一种车辆分段式实时换道轨迹规划方法,用于对车辆A从车道I经车道线L换道至车道II的轨迹进行规划,包括:根据车辆A及其在车道I上的前方车辆B1的状态,计算车辆A在车道线L上中转位置的状态范围;再基于车辆A在换道起点状态和中转位置状态范围,将第一段换道过程的多个指标建模为最优控制问题,优化计算第一段换道过程的轨迹;当车辆到达中转位置时,根据车道II目标位置的前方车辆B2和后方车辆B3的状态,计算车辆A在车道II的终点状态范围;再利用五次多项式生成多条轨迹,考虑多个指标选择最优轨迹作为第二段换道过程的轨迹。本发明分段规划换道轨迹,实现电动汽车在动态交通场景下完成节能、舒适、安全地换道。


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    Titel :

    Segmented real-time lane changing trajectory planning method for vehicle


    Weitere Titelangaben:

    一种车辆分段式实时换道轨迹规划方法


    Beteiligte:
    HU LIN (Autor:in) / WANG JIE (Autor:in) / HUANG JING (Autor:in) / LI JUN (Autor:in)

    Erscheinungsdatum :

    25.04.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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