汽车工程学报2024，Vol.14Issue(6)：970-980,11.DOI:10.3969/j.issn.2095‒1469.2024.06.05
基于NSGA-Ⅱ的智能车辆换道轨迹规划与优化
Lane-Change Trajectory Planning and Optimization for Intelligent Vehicles Based on NSGA-Ⅱ
摘要
Abstract
To address the challenge of determining control point locations in the cubic B-spline curve algorithm for intelligent vehicle lane-change trajectory planning,an optimization method based on NSGA-Ⅱ was proposed.Lane-changing trajectories for intelligent vehicles were planned using cubic B-spline curves.Under low,medium,and high-speed conditions,the NSGA-Ⅱ multi-objective optimization algorithm was applied to optimize the control point positions of these trajectories.The optimization focused on two key objectives,i.e.minimizing the length of lane-changing trajectories and reducing the average curvature of the trajectories.To verify the feasibility of the optimized trajectory,both simulations and real-vehicle tests were conducted.The results show that the mean curvature and trajectory length are reduced after optimization under three different speed conditions.Specifically,the longitudinal displacement and mean curvature are reduced by 12.5％ and 12％,12.5％ and 40％,8.3％ and 15.4％ for low,medium and high speeds,respectively.In the co-simulation scenario,the optimized trajectory tracking shows a maximum lateral error of less than 0.1 m under low and medium speeds of 10 m/s and 20 m/s,respectively.At high speed of 30 m/s,the maximum lateral error remains below 0.3 m.In the real vehicle tests,the maximum lateral error before optimization is approximately 0.5 m.After optimization,this error is reduced to under 0.4 m,reflecting an improvement of over 20％ .关键词
智能车辆/换道轨迹规划/NSGA-Ⅱ/三次B样条Key words
intelligent vehicles/lane-change trajectory planning/NSGA-Ⅱ/cubic B-spline分类
交通工程引用本文复制引用
查云飞,张坤,沈磊,陈慧勤..基于NSGA-Ⅱ的智能车辆换道轨迹规划与优化[J].汽车工程学报,2024,14(6):970-980,11.基金项目
福州市"揭榜挂帅"重大科技项目(2022-ZD-008) （2022-ZD-008）
福建省高校产学合作项目(2023H6019) （2023H6019）
