重庆大学学报2024，Vol.47Issue(3)：30-43,14.DOI:10.11835/j.issn.1000-582X.2023.221
高速公路弯道换道决策及运动规划优化
Decision making and optimization of trajectory planning of lane change on highway curve
摘要
Abstract
Decision making and motion planning algorithms play a crucial role in determining the safety and handling stability of autonomous vehicles, particularly on highway curves. Addressing safety and driving efficiency concerns in the decision-making process for highway lane changes, this study proposes a driving dissatisfaction decision algorithm based on the relative driving dissatisfaction of the ego-vehicle compared to the preceding vehicle. To improve the real-time performance of the planning algorithm, a path-speed decoupling framework is adopted for lane change trajectory planning. The path planning utilizes the quintic polynomial curve, incorporating four path evaluation indicators that considered safety, comfort and efficiency to achieve optimal path planning. Speed planning involves obtaining a smooth speed curve through a combination of dynamic programming and quadratic programming optimization. Simulation results show that the lane change decision model based on driving dissatisfaction can choose a more efficient and safer driving mode. In typical lane changing scenarios, both the maximum centroid sideslip angle and maximum yaw rate of the ego-vehicle are small, indicating that the lane change trajectory planning algorithm can ensure the safety and handling stability of the ego-vehicle during the lane change process.关键词
自动驾驶汽车/运动规划/决策/驾驶不满意度/优化Key words
autonomous vehicles/trajectory planning/decision making/driving dissatisfaction/optimization分类
交通工程引用本文复制引用
袁昌,莫天石,舒红..高速公路弯道换道决策及运动规划优化[J].重庆大学学报,2024,47(3):30-43,14.基金项目
重庆市重大主题专项资助项目(cstc2019jscx-zdztzxX0039).Supported by the Major Theme Program of Chongqing Municipality(cstc2019jscx-zdztzxX0039). （cstc2019jscx-zdztzxX0039）
