重庆理工大学学报2025，Vol.39Issue(5)：17-23,7.DOI:10.3969/j.issn.1674-8425(z).2025.03.003
动态多车环境智能车辆换道轨迹规划方法研究
Research on intelligent vehicle lane changing trajectory planning method in dynamic multi-vehicle environment
摘要
Abstract
To address the reduced adaptability of the lane change trajectory planning algorithm employed by intelligent vehicles caused by multi-vehicle interference in dynamic traffic environments,we propose a lane change path planning method for dynamic multi-vehicle environment.First,the intermediate state is introduced to improve the quintic polynomial algorithm.Then,the feasible interval is optimized by combining safety constraints based on the interaction information between the ego vehicle and other vehicles with vehicle dynamics constraints to obtain feasible and reasonable trajectory clusters.Next,an evaluation function is established to comprehensively evaluate the safety and comfort of lane changing and solve the optimal trajectory of comprehensive performance.Finally,joint simulation and hardware in the loop verification are conducted.Our results show no collision occurs between intelligent and other vehicles.The fluctuation ranges of front wheel angle,yaw and lateral acceleration are±2.4°,±7.2° and±2.9 m/s respectively.Our proposed method generates reasonable lane change trajectory in different multi-vehicle traffic environments,effectively prevents dangerous traffic accidents and ensures passengers'riding comfort.关键词
轨迹规划/五次多项式/智能车辆/多车环境Key words
trajectory planning/quintic polynomial/intelligent vehicles/multi-vehicle environment分类
交通运输引用本文复制引用
张宇龙,王鹏伟,王天宇,张榕,房玉莹..动态多车环境智能车辆换道轨迹规划方法研究[J].重庆理工大学学报,2025,39(5):17-23,7.基金项目
国家自然科学基金项目(52102465) （52102465）
山东省重大科技创新工程项目(2023CXGC010111) （2023CXGC010111）
山东省自然科学基金项目(ZR202111230089) （ZR202111230089）
山东省青年基金项目(ZR2021QF039) （ZR2021QF039）
山东省中小企业创新能力提升工程项目(2022TSGC2277) （2022TSGC2277）
