南京信息工程大学学报2025，Vol.17Issue(2)：265-272,8.DOI:10.13878/j.cnki.jnuist.20240424002
基于风险场和多项式的智能车换道轨迹规划
Intelligent vehicle lane-changing trajectory planning based on risk field and polynomial
摘要
Abstract
A trajectory planning method based on safety potential field and polynomial lane-changing model is pro-posed to address the safety and comfort issue of intelligent vehicles in highway lane-changing scenarios.First,the vehicle's motion is decoupled into horizontal and vertical dimensions in the Frenet coordinate system,and the hori-zontal d-t and the longitudinal s-t trajectory clusters are generated by fifth-and fourth-order polynomials,respective-ly.Second,to improve algorithm efficiency,a trajectory evaluation index incorporating acceleration,acceleration change rate and curvature is designed according to vehicle dynamics characteristics,and candidate trajectories are obtained after initial screening of the trajectory clusters.Finally,a trajectory evaluation function that integrates safety,comfort and efficiency is established based on safety potential field theory and the concept of minimum driv-ing safety distance,to select the optimal candidate trajectory and complete the simulation verification.The proposed approach is simulated and verified by building a high-speed two-lane curve model and designing diverse lane-chan-ging scenarios for uniform and variable-speed traffic flows.Results show that in the lane-changing process,the colli-sion risk value between the ego-vehicle and obstacle vehicles remains below the critical threshold,ensuring lane-changing safety.Furthermore,under different driving conditions,the ego-vehicle's acceleration,acceleration change rate,and trajectory curvature are all within acceptable limits,indicating that the lane-changing trajectory planning approach ensures both comfort and smoothness in various obstacle traffic flows.关键词
智能驾驶/换道轨迹规划/安全势场/Frenet坐标系/多项式Key words
intelligent driving/lane-changing trajectory planning/safety potential field/Frenet coordinate system/polynomial分类
交通运输引用本文复制引用
安政吉,范小宁..基于风险场和多项式的智能车换道轨迹规划[J].南京信息工程大学学报,2025,17(2):265-272,8.基金项目
山西省基础研究计划(20210302123212) （20210302123212）
