The invention discloses a collision avoidance and loss reduction trajectory planning method, which comprises the following steps: acquiring and predicting the motion information of vehicles around a vehicle based on a sensor so as to calculate a collision avoidance critical distance, constructing a trajectory planning feasible region based on a longitudinal collision avoidance critical distance and a transverse collision avoidance critical distance, and establishing a trajectory planning feasible region based on the constructed trajectory planning feasible region. And size constraint can be provided for trajectory planning. On the basis of a quintic polynomial and different transverse accelerations, multiple sections of collision avoidance trajectories can be generated, namely a collision avoidance trajectory cluster is generated. And establishing a collision damage degree cost function K, wherein the cost function K is composed of a collision speed coefficient Kv, a collision angle coefficient and a lane changing stability coefficient KS. And solving a transverse acceleration ayref corresponding to the minimum collision damage degree cost function K under size constraint and dynamic constraint by adopting a multi-objective optimization method, so as to determine a collision avoidance track with the minimum collision damage degree.
本发明公开一种避撞和降损轨迹规划方法,包括基于传感器获取和预测自车周围车辆运动信息,从而计算出避撞临界距离,基于纵向避撞临界距离和横向避撞临界距离,构建轨迹规划可行域,构建的轨迹规划可行域,可为轨迹规划提供尺寸约束。基于五次多项式和不同的横向加速度,可生成多段避撞轨迹,即生成避撞轨迹簇。建立碰撞受损度代价函数K,代价函数K由碰撞速度系数Kv、碰撞角度系数换道稳定度系数KS组成。采用多目标优化法,在尺寸约束和动力学约束下,求解出最小碰撞受损度代价函数K对应的横向加速度ayref,从而确定出碰撞受损度最小的避撞轨迹。
Collision avoidance and loss reduction trajectory planning method
一种避撞和降损轨迹规划方法
2023-03-28
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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