同济大学学报（自然科学版）2024，Vol.52Issue(8)：1250-1260,11.DOI:10.11908/j.issn.0253-374x.22281
基于风险建模的变曲率匝道自动驾驶轨迹规划方法
Trajectory Planning for Autonomous Vehicles on Ramp Scenarios with Gradual Curves Based on Risk Modeling
摘要
Abstract
Ramp scenarios with gradual curves challenge the autonomous vehicles because of their irregular curvatures,diverse planar layouts,and multidimensional vehicle conflicts.This paper presents an algorithm based on the coupled"vehicle-road"risk to increase the safety of lane-changing on ramps with gradual curves.The quintic polynomial is adopted to construct a set of candidate lane-changing trajectories.The cost function is developed by risk,efficiency,and comfort indicators.Simulation tests under parallel continue curved and tapered continue curved ramps show that the proposed model improved safety performance by 13.9%and 12.6%under the two ramp configurations compared to earlier lane-changing algorithms based on collision detection and rule-based risk evaluation.These results showed the proposed algorithm can be applied to complicated driving scenarios to increase the trajectory safety of autonomous vehicles.关键词
自动驾驶/车道变换/变曲率/轨迹规划/风险场/安全优化Key words
autonomous vehicle/lane changing/changing curvature/trajectory planning/risk field/safety optimization分类
交通运输引用本文复制引用
柴晨,曾宪明,刘韬..基于风险建模的变曲率匝道自动驾驶轨迹规划方法[J].同济大学学报（自然科学版）,2024,52(8):1250-1260,11.基金项目
国家重点研发计划(2023YFC4301900) （2023YFC4301900）
中央高校基本科研业务费专项资金(20234YB06) （20234YB06）
