智能汽车换道轨迹规划曲线研究

Research on the Planning Curve of Intelligent Vehicle Lane-changing Trajectory

目前随着信息化、数据化、自动化、智能化越来越深入,智能网联汽车也在飞速发展,在车辆换道的过程中,轨迹规划曲线就显得十分重要,直接决定换道的安全性、舒适性、效率等。随着轨迹规划曲线的发展,先后有人工势场法,曲线拟合法,搜索算法等方法,利用曲线拟合法进行轨迹规划也是当今智能车辆领域最常用的方法之一,通过给定的车辆的起始点和终点生成连续、舒适、满足动力性要求的曲线,并对曲线拟合的各个方法的优缺点进行比较分析。

At present,with the development of informatization,datamation,automation,and intelligence,intelligent vehicles are also developing at a rapid pace.In the process of vehicle lane change,the trajectory planning curve becomes very important,which directly determines the safety,comfort,efficiency,etc in lane change.With the development of trajectory planning curves,there are successive methods such as artificial potential field method,curve fitting method,and search algorithm.Using curve fitting method for trajectory planning is also one of the most commonly used methods in the field of intelligent vehicles today.The starting point and the end point generate a continuous,comfortable,and satisfying dynamic curve,and this paper compares and analyzes the advantages and disadvantages of each method of curve fitting method.