计算机工程与应用2012，Vol.48Issue(3)：242-245,4.DOI:10.3778/j.issn.1002-8331.2012.03.071
基于多项式的智能车辆换道轨迹规划
Lane changing trajectory planning of intelligent vehicles based on polynomials
摘要
Abstract
Studying on the lane changing process of intelligent vehicles, a new lane changing algorithm based on the use of polynomials is presented. This algorithm uses the rectangles for target vehicle and obstacle vehicles representation, combines the target vehicle's states and polynomial theory to generate lane changing trajectory. The lane changing trajectory generated by this algorithm meets the requirements of four-phase lane changing model and can apply to complex road environment. New algorithm simplifies the calculation of a desired and achievable trajectory that in complex road environment to selection of a single coefficient. Dynamic constraints are also taken into account. Simulation result proves the correctness and feasibility of this algorithm. Illustrative examples show the advantage of this new algorithm especially in the case of lane changing with multiple obstacles.关键词
智能车辆/换道/轨迹规划/多项式Key words
intelligent vehicle/ lane changing/ trajectory planning/ polynomial分类
信息技术与安全科学引用本文复制引用
李玮,王晶,段建民..基于多项式的智能车辆换道轨迹规划[J].计算机工程与应用,2012,48(3):242-245,4.基金项目
北京市教委重点项目 （）
北京市自然科学基金(No.JJ002790200802). （No.JJ002790200802）
