自动驾驶汽车双车道换道最优轨迹规划方法

doi:10.13229/j.cnki.jdxbgxb20210457

吉林大学学报(工学版) ›› 2022, Vol. 52 ›› Issue (12): 2852-2863.doi: 10.13229/j.cnki.jdxbgxb20210457

• 交通运输工程·土木工程 • 上一篇下一篇

自动驾驶汽车双车道换道最优轨迹规划方法

彭浩楠¹(),唐明环¹,查奇文¹,王伟忠¹(),王伟达²,项昌乐²,刘玉龙³

^1.中国工业互联网研究院，北京 100102
^2.北京理工大学机械与车辆学院，北京 100081
^3.清华大学车辆与运载学院，北京 100084

收稿日期:2021-05-23 出版日期:2022-12-01 发布日期:2022-12-08
通讯作者: 王伟忠 E-mail:penghaonanteddy@126.com;wangweizhong@china-aii.com
作者简介:彭浩楠（1994-），男，博士研究生. 研究方向：智能网联汽车规控，车联网安全. E-mail：penghaonanteddy@126.com
基金资助:
国家自然科学基金项目(51575043)

Optimization⁃based lane changing trajectory planning approach for autonomous vehicles on two⁃lane road

Hao-nan PENG¹(),Ming-huan TANG¹,Qi-wen ZHA¹,Wei-zhong WANG¹(),Wei-da WANG²,Chang-le XIANG²,Yu-long LIU³

^1.China Academy of Industrial Internet，Beijing 100102，China
^2.School of Mechanical Engineering，Beijing Institute of Technology，Beijing 100081，China
^3.School of Vehicle and Mobility，Tsinghua University，Beijing 100084，China

Received:2021-05-23 Online:2022-12-01 Published:2022-12-08
Contact: Wei-zhong WANG E-mail:penghaonanteddy@126.com;wangweizhong@china-aii.com

摘要/Abstract

摘要：

针对双车道公路交通场景，提出了自动驾驶汽车换道的决策和轨迹规划方法。首先，设计了基于贝叶斯概率理论的风险评估方法，得到当前场景车道安全性条件概率。然后，设计了基于安全效用的行为决策方法，根据风险评估贝叶斯网络和决策图做出此时的行为决策——车道保持或换道。在轨迹规划层提出了基于非线性模型预测控制（MPC）的轨迹规划方法，模仿优秀驾驶员给定各个优化目标函数的权重系数，求解最优期望换道轨迹。最后，通过仿真验证该决策和轨迹规划方法的有效性，结果表明，在不同风险场景中，所设计的风险评估、行为决策和轨迹规划方法能够使自动驾驶汽车做出安全的行为决策，并规划出最优的换道轨迹坐标和车速，使自动驾驶汽车安全、快速地换道行驶。

关键词: 自动驾驶汽车, 换道风险评估, 行为决策, 轨迹规划, 非线性模型预测控制

Abstract:

For two lane traffic scenarios， a decision-making and optimization-based lane changing trajectory planning method for autonomous vehicles was proposed. Firstly， a risk assessment method based on the Bayesian probability theory was designed to obtain the conditional probability of the lane safety in the current scenario； then， a behavior decision-making method based on the safety utility was designed. According to the risk assessment Bayesian network and decision graph， the behavior decision of lane keeping or lane changing was made. An optimization-based trajectory planning method based on the nonlinear MPC was proposed at the trajectory planning layer， which imitates the excellent driver to give the weight coefficient of each optimized objective function to solve the optimal desired lane changing trajectory. At last，The effectiveness of the decision-making and trajectory planning method was verified by the simulation. The simulation results show that the risk assessment， behavior decision-making and optimization-based trajectory planning method can make the safe behavior decision and plan the optimal lane changing trajectory for autonomous vehicles in different risk scenarios， so that the autonomous vehicle can change the lane safely and quickly.

Key words: autonomous vehicles, lane changing risk assessment, decision making, trajectory planning, nonlinear model predictive control （MPC）

中图分类号:

U461.1

彭浩楠,唐明环,查奇文,王伟忠,王伟达,项昌乐,刘玉龙. 自动驾驶汽车双车道换道最优轨迹规划方法[J]. 吉林大学学报(工学版), 2022, 52(12): 2852-2863.

Hao-nan PENG,Ming-huan TANG,Qi-wen ZHA,Wei-zhong WANG,Wei-da WANG,Chang-le XIANG,Yu-long LIU. Optimization⁃based lane changing trajectory planning approach for autonomous vehicles on two⁃lane road[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(12): 2852-2863.

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自动驾驶汽车双车道换道最优轨迹规划方法

Optimization⁃based lane changing trajectory planning approach for autonomous vehicles on two⁃lane road

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