CN107315411A - A kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck - Google Patents

A kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck Download PDF

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CN107315411A
CN107315411A CN201710535751.7A CN201710535751A CN107315411A CN 107315411 A CN107315411 A CN 107315411A CN 201710535751 A CN201710535751 A CN 201710535751A CN 107315411 A CN107315411 A CN 107315411A
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lane
change
vehicle
main car
car
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CN107315411B (en
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董瑞娟
柏海舰
申剑峰
赵楠
赵一楠
卫立阳
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Hefei University of Technology
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Hefei University of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Abstract

The invention discloses a kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck, complexity and city road in view of vehicle lane-changing under unmanned environment turn to the characteristics of lane-change is frequent, it is proposed that collaborative truck strategy and method for planning track during lane-change；Based on the method for planning track of lane-change collaborative strategy and quintic algebra curve, using vehicle kinematics and comfort level as control condition, the main car lane-change track optimizing model under the different collaboration degree of target track rear car is established；Simultaneously, it is contemplated that conventional elliptical, the deficiency of circular train's simulation model, by analyzing the border relations between possible point of collision and vehicle's contour, the collision prevention boundary condition under rectangle auto model is established, the vehicle lane-changing locus model by situation test.Under conditions of collaborative truck, the present invention can complete the vehicle safety lane-change under unmanned environment, while lane-change comfortableness and dynamic (dynamical) requirement can be met.

Description

A kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck
Technical field
It is more particularly to a kind of to be based under collaborative truck nobody the invention belongs to automobile active safety and auxiliary driving field Drive the lane-change method for planning track of vehicle.
Background technology
Under unmanned environment, perception and vehicle real-time track control of the vehicle to surrounding traffic state are unmanned The key factor of vehicle safety Effec-tive Function.Wherein TRAJECTORY CONTROL is exactly to obtain smooth continuous curvature rail by trajectory planning Mark, is allowed to meet the kinetic characteristic and safety requirements of vehicle.Existing trajectory planning is the path rule to robot research field The expansion for the method for drawing, a class is global track approach, proposes to find connection source to the global track of target point, due to such side Method needs to analyze running environment change comprehensively, takes very long and is unfavorable for handling emergency case, therefore, it is difficult at nobody Drive in the trajectory planning of vehicle and realize.Another kind of local path method is under the guiding of global track, by environment sensing Information is generated in real-time track, the trajectory planning that can be widely applied to automatic driving vehicle.
The trajectory planning of automatic driving vehicle includes vehicle follow gallop, lane-change and several situations of overtaking other vehicles.Wherein with track rule of speeding The research for the method for drawing has flourished under traditional ripe following-speed model, and part correlation technique has been applied, passing behavior Lane-change behavior twice is considered as, therefore vehicle lane-changing trajectory planning is the key content of automatic driving vehicle trajectory planning research One of.Now being usually used in the lane-change method for planning track of automatic driving vehicle has Bezier, SPL and polynomial curve. The lane-change track of Bezier generation has continuous radius of curvature, but needs to choose control point, is only applicable to static rule Draw, it is difficult to realize the Realtime collision free behavior in lane-change.SPL can be carried out again to circular arc lane-change track, sinusoidal lane-change track Planning, overcome the mutation of original curvature of curve, it is discontinuous the shortcomings of, but can lead to not realize real-time control.Polynomial curve meter Calculate speed fast, continual curvature is easy to real-time control, and comfort level equation can be drawn by three subdifferentials.
Under unmanned environment, vehicle is in high-speed travel state mostly, and speed is stable, between vehicle with speed away from From very little, the lane-change to automatic driving vehicle brings difficulty.Although the non-lane-change that turns to such as lane-change of overtaking other vehicles can be reduced or even avoided, The pressure lane-change of access and the steering lane-change of city road are inevitable, so the present invention is based on collaborative truck Thought, by the information interchange between vehicle, simplify and simultaneously realize vehicle safety and comfort lane-change under unmanned environment.
The content of the invention
In view of the shortcomings of the prior art, the invention provides a kind of lane-change rail based on automatic driving vehicle under collaborative truck Mark planing method, based on the method for planning track of lane-change collaborative strategy and quintic algebra curve, with vehicle kinematics and comfortably Spend for control condition, the main car lane-change track optimizing model and lane-change track set up under the different collaboration degree of target track rear car are commented Valency cost model, can go out the optimal trajectory of vehicle safety lane-change under unmanned environment with planning and designing.
In order to realize above-mentioned technical purpose, the present invention is adopted the following technical scheme that：
A kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck, it is characterised in that specifically include Following steps：
Step one：Collaborative truck lane-change criterion is set up according to Safe Avoidance of collision principle：
Lane-change request is sent before main car lane-change, whether nearby vehicle receives after receiving the lane-change request signal that main car is sent Lane-change request criterion be：
(101) if current lane rear car, target track front truck keep current vehicle speed at the uniform velocity to travel and will not be collided with main car, Then receive the lane-change request of main car, and keep current vehicle speed to travel, until the success of main car lane-change, if can bump against with main car, refusal The lane-change request of main car；
(102) if current lane front truck, target track rear car keep current vehicle speed at the uniform velocity to travel and will not be collided with main car, Then receive the lane-change request of main car, and keep present speed at the uniform velocity to travel, until the success of main car lane-change；If can be collided with main car Hit, judge with the position relationship of its rear car and cooperate with the requirement of degree, the acceleration or deceleration under acceptable collaboration degree, and sentence Whether collided after disconnected agreement with main car, if collisionless, receive lane-change request, and accelerate under predetermined collaboration degree or Slow down and cooperate with, until the success of main car lane-change, if still being collided after agreement with main car, the lane-change for refusing main car is asked；
Step 2：Set up main car, current lane front truck, the driving trace model of target track rear car：
Origin is in position where using before main car lane-change, and the direction of lane-change vehicle in front traveling is x-axis, perpendicular to travel direction For y axles, plane right-angle coordinate is set up, the driving trace model of car before and after main car, target track is set up；Main car lane-change motion Equation of locus, Movement Locus Equation includes：
(201) driving trace of main car M lane-changes is set up using quintic algebra curve：
Wherein, XMAnd Y (t)M(t) M length travel and lateral displacement is represented respectively；ai, i ∈ { 0,1,2,3,4,5 } and bi, i ∈ { 0,1,2,3,4,5 } are the parameter of M length travels and lateral displacement respectively；T represents the time.Shape is originated according to lane-change State and lane-change done state solve quintic algebra curve；
(202) current lane front truck LoDriving trace：
(203) target track rear car FdDriving trace：
Wherein,M and L is represented respectivelyo、FdBetween space headway before lane-change；L is represented respectivelyo、 FdInitial travel speed；W represents vehicle FdTo M lateral separation；Represent FdDeceleration；Represent FdBy slowing down Reach acceptable speedTime, work as FdWhen at the uniform velocity travelling,
Step 3：Rectangle auto model is chosen, the meter of the safe lane-change condition of collaborative truck is set up according to Safe Avoidance of collision principle Calculate model：
(301) main car M and current lane front truck LoSafe lane-change condition：
(302) main car M and target track rear car FdSafe lane-change condition：
Wherein,L is represented respectivelyoVehicle commander and overall width,WithF is represented respectivelydVehicle commander and overall width；It is the radius that vehicle rotates along barycenter；α is the deflection angle of vehicle,Based on Car M rectangular model summit and the angle of horizontal direction；
Step 4：Factor is to the ginseng in the safe lane-change model of main car according to of both dynamics of vehicle and comfort of passenger Number enters row constraint, gives test parameter, and calculating obtains lane-change track collection, is the lane-change rail of automatic driving vehicle under collaborative truck Mark：
(401) dynamics constraint condition：
Steering angle：Δ α is to become in vehicle unit time Δ T The steering angle of change, Δ αmaxBe vehicle set in the case where not influenceing driving safety performance, the maximum of change turns in unit interval Δ T To angle；For M t lateral velocity,For M t longitudinal velocity；
Curvature：K is curvature, and r is radius of turn, zMFor the wheelbase of main car, kmaxFor not shadow Ring the maximum curvature of driving safety performance；
Speed：0<vx,M(t)<vx,max, vx,M(t) it is the travel speed of M longitudinal directions, vx,maxIndulged for the maximum that is limited on section To travel speed；
Position：0<YM(t)<W, YM(t) lateral displacement for being M, W is the width in track；
(402) comfort of passenger constraints, is judged using the acceleration and acceleration of transverse and longitudinal：
Wherein, axAnd jxRespectively longitudinal acceleration and acceleration；ayAnd jyRespectively horizontal acceleration and Jia Jia Speed；ax,maxAnd jx,maxThe maximum longitudinal acceleration and acceleration allowed for consideration comfort level；ay,maxAnd jy,maxTo consider Comfort level and the maximum lateral acceleration and acceleration allowed；
Step 5：The level of comfort of comprehensive people, three factors of the length travel of lane-change and lane-change time are set up and evaluate lane-change The cost function model of track influence degree, calculating obtains optimal lane-change track, is automatic driving vehicle under collaborative truck Lane-change optimal trajectory：
(501) target track rear car FdCost function when at the uniform velocity cooperateing with：
Wherein, w1、w2、w3Weight coefficient, itself and for 1；max(j)、max(xc) and max (tc) it is respectively feasible lane-change rail The comfort level function of mark concentration, longitudinal lane-change distance, the maximum of lane-change time；Wherein people comfort level calculate function be
(502) target track rear car FdThe cost function slowed down when cooperateing with
Wherein, λ1、λ2、λ3、λ4Weight coefficient, itself and for 1；xFd,slowIt is lane-change time tcInterior FdSlow down collaboration away from From xFd,conIt is lane-change time tcIf interior FdThe distance for the traveling that remains a constant speed；
Step 6：The end-state of the optimal lane-change track of main car calculated by cost function, before main car lane-change Original state and end-state solution formula (1) draw optimal lane-change equation of locus.
The beneficial effects of the present invention are：
A kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck proposed by the present invention；First by five Order polynomial generation automatic driving vehicle lane-change track, according to Safe Avoidance of collision principle, the peace set up under the conditions of rectangle auto model The boundary condition model of full lane-change, the then requirement by meeting dynamics of vehicle and comfort of passenger is used as control condition, asked Solution obtains the actual lane-change footprint of automatic driving vehicle, finally sets up track appraisal cost function, obtains optimal lane-change rail Mark, the vehicle safety lane-change under unmanned environment can be completed with the inventive method, while meeting vehicle lane-changing comfortableness And dynamic (dynamical) requirement.
Brief description of the drawings
Fig. 1 is main car in a kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck of the present invention and week Enclose the relative position schematic diagram of other vehicles.
Fig. 2 is collaborative truck in a kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck of the present invention Process schematic.
Fig. 3 (a) is vehicle M in a kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck of the present invention With Lo potential forms of collision schematic diagram.
Fig. 3 (b) is vehicle M in a kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck of the present invention With Fd potential forms of collision schematic diagram.
Fig. 4 is 4 kinds of vehicles in a kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck of the present invention Model.
Fig. 5 is vehicle collision in a kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck of the present invention Relation schematic diagram.
Embodiment
As shown in figure 1, main car M is during lane-change, surrounding vehicles mainly have current lane front truck Lo, current lane rear car Fo, target track front truck LdWith target track rear car Lo.A kind of lane-change trajectory planning based on automatic driving vehicle under collaborative truck Method comprises the following steps：
Lane-change request is sent before the first step, main car lane-change, nearby vehicle is set up and receives the lane-change request letter that main car is sent Whether the criterion of lane-change request is received after number：
Current lane rear car Fo, target track front truck LdIf keeping current vehicle speed at the uniform velocity to travel and will not be collided with main car, Receive the lane-change request of main car, and keep current vehicle speed to travel, until the success of main car lane-change, if can bump against with main car, refusal master The lane-change request of car.
Current lane front truck Lo, target track rear car FdIf keeping current vehicle speed at the uniform velocity to travel and will not be collided with main car, Receive the lane-change request of main car, and keep present speed at the uniform velocity to travel, until the success of main car lane-change；If can be collided with main car, It need to judge with the position relationship of its rear car and cooperate with the requirement of degree, the acceleration or deceleration under acceptable collaboration degree, and sentence Whether collided after disconnected agreement with main car, if collisionless, receive lane-change request, and accelerate under predetermined collaboration degree or Slow down and cooperate with, until the success of main car lane-change, if still being collided after agreement with main car, the lane-change for refusing main car is asked.Current vehicle Road front truck, target track rear car and the collaborative truck process of main car are shown in Fig. 2.
According to collaborative truck strategy, the collision prevention between lane-change vehicle occurs in main car and current lane front truck and target track Between rear car.
Second step, sets up main car M, current lane front truck Lo, target track rear car LoDriving trace model.Before M lane-changes The position at place is origin, and the direction of lane-change vehicle in front traveling is x-axis, is y-axis perpendicular to travel direction, sets up flat square seat Mark system.
Fast in view of polynomial curve calculating speed, continual curvature is easy to real-time control, can be drawn by three subdifferentials easypro Appropriate equation, the driving trace of main car M lane-changes is set up using quintic algebra curve：
Wherein, XMAnd Y (t)M(t) M length travel and lateral displacement is represented respectively；ai, i ∈ { 0,1,2,3,4,5 } and bi, i ∈ { 0,1,2,3,4,5 } are the parameter of M length travels and lateral displacement respectively；T represents the time.Shape is originated according to lane-change State and lane-change done state solve quintic algebra curve.
Initial state：
Done state：
Wherein, x0And y0Represent M in the horizontal and vertical displacement of initial state, vX, 0And vY, 0Represent horizontal strokes of the M in initial state To and longitudinal velocity, aX, 0And aY, 0Represent horizontal and vertical acceleration of the M in initial state；xcAnd ycAt the end of representing lane-change Horizontal and vertical displacement, vX, cAnd vY, cRepresent horizontal and vertical speed of the M at the end of lane-change, αX, cAnd aY, cRepresent M in lane-change At the end of horizontal and vertical acceleration, tcFor the lane-change time.
Current lane front truck LoDriving trace：
Target track rear car FdDriving trace:
Wherein,M and L is represented respectivelyo、FdBetween space headway before lane-change；L is represented respectivelyo、 FdInitial travel speed；W represents vehicle FdTo M lateral separation, the width in track is designated as in text；Represent FdDeceleration Degree；Represent FdAcceptable speed is reached by slowing downTime.
The present invention provides vehicle collision form, such as Fig. 3 (a), Fig. 3 (b).In view of the advantage and disadvantage of various auto models, it is The requirement of vehicle collision prevention during lane-change is realized, rectangle is employed as auto model, such as Fig. 4；Given vehicle collision is closed System such as Fig. 5.
3rd step, sets up the safe lane-change condition of vehicle success as follows：
If current lane front truck cooperates with lane-change, from LoTrajectory calculation is carried out with the condition of the safe lane-changes of M：
If target track rear car cooperates with lane-change, from FdTrajectory calculation is carried out with the condition of the safe lane-changes of M：
Wherein,L is represented respectivelyoVehicle commander and overall width,WithF is represented respectivelydVehicle commander and overall width；It is the angle that vehicle rotates along barycenter；α is the deflection angle of vehicle,For main car M rectangular model summit and the angle of horizontal direction；
4th step, factor is to the ginseng in the safe lane-change model of main car according to of both dynamics of vehicle and comfort of passenger Number enters row constraint, gives test parameter, and calculating obtains lane-change track collection：
Kinematics requirement：
Steering angle：Δ α is to change in vehicle unit time Δ T Steering angle, Δ αmaxBe vehicle set in the case where not influenceing driving safety performance, the maximum steering of change in unit interval Δ T Angle；For M t lateral velocity,For M t longitudinal velocity；
Curvature：K is curvature, and r is radius of turn, zMFor the wheelbase of main car, kmaxFor not shadow Ring the maximum curvature of driving safety performance；
Speed：0<vx,M(t)<vx,max, vx,M(t) it is the travel speed of M longitudinal directions, vx,maxIndulged for the maximum that is limited on section To travel speed；
Position：0<YM(t)<W, YM(t) lateral displacement for being M, W is the width in track；
Comfort level requirement：
Wherein, axAnd jxRespectively longitudinal acceleration and acceleration；ayAnd jyRespectively horizontal acceleration and Jia Jia Speed； ax,maxAnd jx,maxThe maximum longitudinal acceleration and acceleration allowed for consideration comfort level；ay,maxAnd jy,maxTo examine The maximum lateral acceleration and acceleration considered comfort level and allowed；
5th step, the level of comfort of comprehensive people, three factors of the length travel of lane-change and lane-change time are set up and evaluate lane-change The cost function model of track influence degree, calculating obtains optimal lane-change track, is automatic driving vehicle under collaborative truck Lane-change optimal trajectory：
Target track rear car FdCost function when at the uniform velocity cooperateing with：
Wherein, w1、w2、w3Weight coefficient, itself and for 1；max(j)、max(xc) and max (tc) it is respectively feasible lane-change rail The comfort level function of mark concentration, longitudinal lane-change distance, the maximum of lane-change time.Wherein people comfort level calculate function be
Target track rear car FdThe cost function slowed down when cooperateing with：
Wherein, λ1、λ2、λ3、λ4Weight coefficient, itself and for 1；xFd,slowIt is lane-change time tcInterior FdSlow down collaboration away from From xFd,conIt is lane-change time tcIf interior FdThe distance for the traveling that remains a constant speed.
The end-state of the optimal lane-change track of main car calculated by cost function, according to the initial shape before main car lane-change State and end-state solution formula (1) draw optimal lane-change equation of locus.
The present embodiment chooses rear car and at the uniform velocity cooperates with lane-change and deceleration collaboration two kinds of situations of lane-change to be analyzed.Given test ginseng Number is as follows, and all vehicle vehicle commanders are 4.5m, and overall width is 1.8m, and lane width is 3.5m；M starting velocity vX, 0For 30km/h, the speed v of lane-change to target trackX, cFor 40km/h, LoSpeed 30km/h；M and LoSpace headway be 20m；Change The road time is set to 1-12s；Dynamics of vehicle and comfortable constraints：Steering angle Δ α ∈ (0,20 °)；Curvature k ∈ (0,1)； vX, M(t) ∈ (0,60)；YM(t) ∈ (0,3.5)；ax, ayAbsolute value be respectively less than 10；jx, jyAbsolute value be respectively less than 10.Test The safe trajectory of main car lane-change in the case of several below：
When target track rear car at the uniform velocity cooperates with lane-change：Given FdSpeed 40km/h, FdSpace headway with M is 20m.Band Enter formula (3) and obtain FdDriving trace, then carry it into formula (5), generation symbol can be calculated according to formula (5) and constraints Desired lane-change track is closed, 1 is shown in Table.
The target track rear car of table 1 meets the main car safe trajectory collection of constraints when at the uniform velocity cooperateing with lane-change
Further according to formula (6), x is obtainedc=68.05m, yc=3.51m, tcCorresponding track is optimal trajectory during=7.0s, It is brought into the starting of formula (1), end-state, fitting solves optimal lane-change equation of locus and is：
Dynamic simulation is carried out to the track, main car can realize that nothing touches safe lane-change, and the curve of lane-change is more gentle, full The comfort level requirement of passenger under the unmanned environment of foot.
During the rear car deceleration collaboration lane-change of target track：Given test parameter FdSpeed is 48km/h before collaboration, cooperates with speed For 40 km/h, FdSpace headway with M is 20m.Bring formula (3) into and obtain FdDriving trace, then carry it into formula (5), The satisfactory lane-change track of generation can be calculated according to formula (5) and constraints, 2 are shown in Table.
The target track rear car of table 2, which is slowed down, meets the main car safe trajectory collection of constraints when cooperateing with lane-change
Further according to formula (7), x is obtainedc=59.31m, yc=3.50m, tcCorresponding track is optimal rail during=6.10s Mark, is brought into the starting of formula (1), end-state, and fitting solves optimal lane-change equation of locus and is：
Dynamic simulation is carried out to the track, main car can realize that nothing touches safe lane-change, and the curve of lane-change is more gentle, full The comfort level requirement of passenger under the unmanned environment of foot.

Claims (2)

1. a kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck, it is characterised in that specifically include with Lower step：
Step one：Collaborative truck lane-change criterion is set up according to Safe Avoidance of collision principle：
Lane-change request is sent before main car lane-change, whether nearby vehicle receives lane-change after receiving the lane-change request signal that main car is sent The criterion of request is：
(101) if current lane rear car, target track front truck keep current vehicle speed at the uniform velocity to travel and will not be collided with main car, connect The lane-change request of acceptor's car, and keep current vehicle speed to travel, until the success of main car lane-change, if can bump against with main car, refuses main car Lane-change request；
(102) if current lane front truck, target track rear car keep current vehicle speed at the uniform velocity to travel and will not be collided with main car, connect The lane-change request of acceptor's car, and keep present speed at the uniform velocity to travel, until the success of main car lane-change；If can be collided with main car, need Judge with the position relationship of its rear car and cooperate with the requirement of degree, the acceleration or deceleration under acceptable collaboration degree, and judge Whether collided after agreement with main car, if collisionless, receive lane-change request, and accelerate or subtract under predetermined collaboration degree Speed collaboration, until the success of main car lane-change, if still being collided after agreement with main car, refuses the lane-change request of main car；
Step 2：Set up main car, current lane front truck, the driving trace model of target track rear car：
Origin is in position where using before main car lane-change, and the direction of lane-change vehicle in front traveling is x-axis, is y perpendicular to travel direction Axle, sets up plane right-angle coordinate, sets up the driving trace model of car before and after main car, target track：
(201) driving trace of main car M lane-changes is set up using quintic algebra curve：
Wherein, XMAnd Y (t)M(t) M length travel and lateral displacement is represented respectively；ai, i ∈ { 0,1,2,3,4,5 } and bi,i∈ { 0,1,2,3,4,5 } be respectively M length travels and lateral displacement parameter；T represents the time；According to lane-change initial state and changing Road done state solves quintic algebra curve；
(202) current lane front truck LoDriving trace：
(203) target track rear car FdDriving trace：
Wherein,M and L is represented respectivelyo、FdBetween space headway before lane-change；L is represented respectivelyo、Fd's Initial travel speed；W represents vehicle FdTo M lateral separation；Represent FdDeceleration；Represent FdReached by slowing down Acceptable speedTime, work as FdWhen at the uniform velocity travelling,
Step 3：Rectangle auto model is chosen, the calculating mould of the safe lane-change condition of collaborative truck is set up according to Safe Avoidance of collision principle Type：
(301) main car M and current lane front truck LoSafe lane-change condition：
(302) main car M and target track rear car FdSafe lane-change condition：
Wherein,L is represented respectivelyoVehicle commander and overall width,WithF is represented respectivelydVehicle commander and overall width；It is the radius that vehicle rotates along barycenter；α is the deflection angle of vehicle,Based on Car M rectangular model summit and the angle of horizontal direction；
Step 4：The factor according to of both dynamics of vehicle and comfort of passenger is entered to the parameter in the safe lane-change model of main car Row constraint, gives test parameter, and calculating obtains lane-change track collection, is the lane-change track of automatic driving vehicle under collaborative truck；
(401) dynamics constraint condition：
Steering angle：Δ α is turn of change in vehicle unit time Δ T To angle, Δ αmaxBe vehicle set in the case where not influenceing driving safety performance, the steering locking angle of change in unit interval Δ T；For M t lateral velocity,For M t longitudinal velocity；
Curvature：K is curvature, and r is radius of turn, zMFor the wheelbase of main car, kmaxNot influence to drive Sail the maximum curvature of security performance；
Speed：0<vx,M(t)<vx,max, vx,M(t) it is the travel speed of M longitudinal directions, vx,maxFor the maximum longitudinal driving limited on section Speed；
Position：0<YM(t)<W, YM(t) lateral displacement for being M, W is the width in track；
(402) comfort of passenger constraints, is judged using the acceleration and acceleration of transverse and longitudinal：
Wherein, axAnd jxRespectively longitudinal acceleration and acceleration；ayAnd jyRespectively horizontal acceleration and acceleration； ax,maxAnd jx,maxThe maximum longitudinal acceleration and acceleration allowed for consideration comfort level；ay,maxAnd jy,maxIt is comfortable to consider The maximum lateral acceleration and acceleration spent and allowed.
2. a kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck according to claim 1, its It is characterised by, also includes after the step 4：
Step 5：The level of comfort of comprehensive people, three factors of the length travel of lane-change and lane-change time are set up and evaluate lane-change track The cost function model of influence degree, calculating obtains optimal lane-change track, is the lane-change of automatic driving vehicle under collaborative truck Optimal trajectory：
(501) target track rear car FdCost function when at the uniform velocity cooperateing with：
Wherein, w1、w2、w3Weight coefficient, itself and for 1；max(j)、max(xc) and max (tc) it is respectively feasible lane-change track collection In comfort level function, longitudinal lane-change distance, the maximum of lane-change time；Wherein people comfort level calculate function be；
(502) target track rear car FdThe cost function slowed down when cooperateing with：
Wherein, λ1、λ2、λ3、λ4Weight coefficient, itself and for 1；xFd,slowIt is lane-change time tcInterior FdThe distance of deceleration collaboration, xFd,conIt is lane-change time tcIf interior FdThe distance for the traveling that remains a constant speed；
Step 6：The end-state of the optimal lane-change track of main car calculated by cost function, according to first before main car lane-change Beginning state and end-state solution formula (1) draw optimal lane-change equation of locus.
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