基于动态距离窗的交叉口CAV轨迹规划算法

Trajectory Planning Algorithm for CAV at Intersections Based on Dynamic Distance Windows

针对目前智能网联车(connected and autonomous vehicle,CAV)通过交叉口的轨迹规划算法无法兼顾效率与安全协同最优的问题,根据CAV驶入交叉口通信范围时的不同初始行驶状态引入动态距离窗(dynamic distance windows,DDW)概念,提出适用于可控安全行驶条件下通行效率最优的轨迹规划算法。算法根据CAV初始行驶状态参数和信号灯信息、最大舒适加/减速度和道路限速约束条件,获得CAV初始行驶状态对应的DDW。针对CAV初始位置与停车线上游特定位置间的距离处于DDW范围之内和之外的两种情况,分别设计相应的轨迹规划算法,实现CAV通过交叉口延误最小。仿真结果显示,所提出的算法可有效提高CAV通过交叉口的效率,并且具有更小的速度波动及更平滑的时空轨迹。

Considering the problem that the existing trajectory planning algorithms for connected and autonomous vehicle(CAV)passing through intersections cannot achieve optimal coordination of traffic efficiency and safety,the concept of dynamic distance windows(DDW)is introduced according to different initial driving states when CAV drives into the communication range of the intersection,and a trajectory planning algorithm which is suitable for the optimal traffic efficiency under the controllable and safe driving condition is proposed.The DDW corresponding to the initial driving state of CAV can be obtained according to the information of initial driving state parameters of CAV and the signal lights,and the constraints of the maximum comfortable acceleration/deceleration and the speed limit of road.For the two types of situation that the distance between the initial position of CAV and a certain position in front of the stop line is within or outside of the DDW,the corresponding trajectory planning algorithm is designed respectively to achieve the minimum delay of CAV passing through the intersection.The simulation results show that the proposed algorithm can improve the efficiency of CAV passing through the intersection,with smaller speed fluctuations and smoother spatiotemporal trajectory of CAV.