吉林大学学报(工学版) ›› 2022, Vol. 52 ›› Issue (12): 2852-2863.doi: 10.13229/j.cnki.jdxbgxb20210457
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
Hao-nan PENG1(),Ming-huan TANG1,Qi-wen ZHA1,Wei-zhong WANG1(),Wei-da WANG2,Chang-le XIANG2,Yu-long LIU3
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。
中图分类号:
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