计算机应用与软件2024，Vol.41Issue(1)：49-55,63,8.DOI:10.3969/j.issn.1000-386x.2024.01.008
基于组合代价函数的智能汽车轨迹规划
AUTONOMOUS VEHICLE TRAJECTORY PLANNING BASED ON COMBINED COST FUNCTION
摘要
Abstract
Aiming at the safety and comfort of smart cars in multi-lane highway scenes,a trajectory planning method based on combined cost function is proposed.The Frenet coordinate system is used to solve the vehicle's lateral and longitudinal motion trajectories,and a set of candidate trajectories are generated through fifth-order polynomial fitting.Taking the degree of danger and the degree of trajectory deviation as the benchmark,and taking the safety and comfort of the vehicle on the multi-lane highway as the goal,a new cost function combination is designed,and the optimal trajectory is selected by solving the cost function.Simulation results show that the proposed new trajectory planning method enables vehicles to follow and change lanes in a three-lane dynamic highway scene.关键词
自动驾驶/动态公路场景/轨迹规划/轨迹选择/代价函数Key words
Autonomous driving/Dynamic highway scene/Trajectory planning/Trajectory selection/Cost function分类
信息技术与安全科学引用本文复制引用
朱凌云,周宇..基于组合代价函数的智能汽车轨迹规划[J].计算机应用与软件,2024,41(1):49-55,63,8.基金项目
重庆市巴南区科技计划项目(2018TJ02) （2018TJ02）
中国汽车工程研究院资助项目(2019Q109). （2019Q109）
