基于可达性分析的网联自主车辆换道安全轨迹规划与仿真

Safe Trajectory Planning for Lane Changing Based on Reachability Analysis

为解决网联自主车辆在换道时前车向目标车道紧急变道所引发的交通安全问题。通过考虑车道线与道路边界约束以及网联自主车辆与障碍车辆的碰撞风险,建立了换道临界碰撞模型。综合考虑换道临界模型与多项式规划方法,规划带安全约束的换道轨迹。进一步为降低网联车辆紧急避障的反应时间,提高避让轨迹的动态响应效果,采用可达性分析方法搜索出安全区域,使用多项式规划安全避让轨迹。最后针对具体的实际交通场景,使用MATLAB对规划轨迹进行数值仿真分析,仿真结果表明换道轨迹满足安全性、舒适性以及换道效率的约束,所规划的避让轨迹在牺牲部分舒适性的前提下能够满足安全性的要求,降低车辆面对突发情况的安全风险。

To solve the traffic safety problem caused by the emergency lane change of the front vehicle to the target lane during lane changing of a network-connected autonomous vehicle.By considering the lane line and road boundary constraints as well as the collision risk between the network-connected autonomous vehicle and the obstacle vehicle,a lane-changing critical collision model was established.The lane change trajectory with safety constraints was planned by integrating the lane change critical model and polynomial planning method.Further to reduce the reaction time of emergency obstacle avoidance for the connected vehicle and improve the dynamic response effect of the avoidance trajectory,the reachability analysis method was used to search out the safe region and the polynomial was used to plan the safe avoidance trajectory.Finally,for specific real traffic scenarios,numerical simulation analysis of the planned trajectory was carried out using MATLAB,and the simulation results show that the lane-changing trajectory satisfies the constraints of safety,comfort,and lane-changing efficiency,and the planned avoidance trajectory can satisfy the requirements of safety under the premise of sacrificing part of the comfort and reduce the safety risk of the vehicle facing the unexpected situation.