CN104282033A - Integrated lane changing behavior simulation method oriented towards vehicle animation simulation - Google Patents
Integrated lane changing behavior simulation method oriented towards vehicle animation simulation Download PDFInfo
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- CN104282033A CN104282033A CN201410395133.3A CN201410395133A CN104282033A CN 104282033 A CN104282033 A CN 104282033A CN 201410395133 A CN201410395133 A CN 201410395133A CN 104282033 A CN104282033 A CN 104282033A
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention discloses an integrated lane changing behavior simulation method oriented towards vehicle animation simulation. The method includes the coordinate system building step, wherein a lane changing track of a vehicle to change a lane is built on the basis of a moving coordinate system, the current position of the vehicle to change the lane serves as the origin of the moving coordinate system, the transverse axis of the moving coordinate system is in the lane line direction of the vehicle to change the lane, and the longitudinal axis of the moving coordinate system is in the direction perpendicular to the transverse axis; the lane changing track describing step, wherein the offsets of the lane changing track in the transverse axis and the longitudinal axis are described respectively on the basis of the moving coordinate system; the track restraint step, wherein a restraint condition is formed on the basis of influence on the lane changing track from multiple influence factors; the track obtaining step, wherein the lane changing track is restrained on the basis of the constraint condition, and the final lane changing track of the vehicle is obtained.
Description
Technical field
The present invention relates to traffic simulation field and field of Computer Graphics, particularly relate to a kind of integration for vehicle animation simulation and change Behavior modeling method.
Background technology
Along with the development of three-dimensional modeling technique, all need in many three-dimensional analogue systems to incorporate vehicle animation simulation effect true to nature, as virtual earth, city engine, application software and the game such as city life.There are a large amount of ring roads up and down, doubling, intersection and accident section etc. in city road network, at these section places, a large amount of vehicle lane-changing behaviors can occur.Therefore, true to naturely careful change Behavior modeling, not only contribute to the authenticity improving traffic simulation, well can also improve the credibility of analog result.
Existingly change analogy method mainly based on the method for decision-making.The behavior of changing is reduced to the action completed instantaneously by these methods, exchange road description only comprise change whether feasible.Although these methods can well determine whether the behavior of changing can occur, and cannot describe the process of changing, and greatly have impact on the effect of animation simulation.The model of some path plannings, as derivative-integral controller model, multinomial model etc., can supplement the motor behavior for describing vehicle in the process of changing.These methods are widely used in the systems such as intelligent driving, but these methods are mostly too consuming time, mainly for single unit vehicle.The vehicle related generally in vehicle animation simulation is more, applies these methods and there is bottleneck in efficiency, is difficult in these processes be applied in vehicle animation simulation.
In summary, existing object of changing model is to realize traffic analysis roughly on the whole, and whether model is only considered to change feasible, does not pay close attention to change and specifically how to carry out.And in order to realize vehicle animation simulation, change the necessary of the description of behavior.The method of extra employing path planning can make the efficiency of vehicle animation simulation reduce.Through exchange road analogy method and paths planning method further investigation and in conjunction with actual conditions, find solve this problem can change decision model by the thought of path planning being incorporated.In reality driver intend to judge when changing to change whether can there is to think to judge whether to exist safety change track.Based on this, we are converted into whether there is the safe decision-making of changing track by changing the decision-making that whether can occur, and the condition of safety comprises the kinematics of vehicle self and dynamic behavior and and and the safe distance between vehicles etc. of surrounding vehicles.Exist if change track, whether can to change and information of how changing just can disposablely obtain.
Summary of the invention
A kind of integration for vehicle animation simulation is the object of the present invention is to provide to change Behavior modeling method, need to adopt the method for changing decision-making technique and path planning to combine describe to solve the method for exchanging Behavior modeling in prior art, cause the problem of inefficiency.
For reaching above-mentioned purpose, the present invention proposes a kind of integration for vehicle animation simulation and changing Behavior modeling method, it is characterized in that, comprising:
Establishment of coordinate system step: that sets up road to be changed vehicle based on a moving coordinate system changes track, and using the initial point of the current location of road to be changed vehicle as described moving coordinate system, using along the lane line direction of described road to be changed vehicle as the lateral shaft of described moving coordinate system, using the direction perpendicular to described lateral shaft as the longitudinal axis of described moving coordinate system;
Change track and describe step: based on described moving coordinate system, described in describing respectively, change the skew of track on described lateral shaft and described longitudinal axis;
Profile constraints step: constraint condition is formed on described impact of changing track based on multiple influence factor;
Track obtaining step: retrain the described track that changes based on described constraint condition, what obtain described vehicle finally changes track.
Behavior modeling method is changed in the above-mentioned integration for vehicle animation simulation, it is characterized in that, described moving coordinates are that Frenet moves frame.
Behavior modeling method is changed in the above-mentioned integration for vehicle animation simulation, it is characterized in that, the initial point of described moving coordinate system is the initial point of Frenet frame coordinate system, and described lateral shaft is the x-axis direction of Frenet frame, and described longitudinal axis is the y-axis direction of Frenet frame.
Behavior modeling method is changed in the above-mentioned integration for vehicle animation simulation, it is characterized in that, described influence factor comprises: vehicle displacement, dynamic behavior and surrounding vehicles condition.
Behavior modeling method is changed in the above-mentioned integration for vehicle animation simulation, it is characterized in that, described in change track and be described as by polynomial equation:
x(t)＝A
3t
3+A
2t
2+A
1t
1+A
0
y(t)＝B
5t
5+B
4t
4+B
3t
3+B
2t
2+B
1t
1+B
0
Wherein x (t) is the skew in vehicle lane-changing process on described x-axis direction, and y (t) is the skew in vehicle lane-changing process on described y-axis direction.T ∈ [0, T], T represent to change and continue duration, are unknown parameter.A
ii=0,1,2,3 and B
ii ∈ [0,5] is unknown parameter.
Behavior modeling method is changed in the above-mentioned integration for vehicle animation simulation, it is characterized in that, the formula of described constraint condition is:
x(0)＝0,y(0)＝0,y(T)＝L
x'(0)＝v
0,x″(T)＝v
1
x'(t)∈[0,v
max],x″(t)∈[a
break,a
long]
y'(0)＝y'(T)＝0
y″(0)＝y″(T)＝0
x(t)≤v
CLT+gap
CL,0-gap
CL,min
x(t)≤v
TLT+gap
TL,0-gap
TL,min
x(t)≥v
TFT-gap
TF,0+gap
TF,min
Wherein, L is lane width, v
0for changing speed on start time lateral direction of car, v
1for driver estimate change at the end of velocity amplitude that lateral direction of car can reach.V
maxfor lateral direction of car maximal rate, a
break, a
longbe respectively the maximum deceleration on lateral direction of car and peak acceleration.CL, TL, TF are respectively current lane front vehicles, target lane preceding vehicle and target track front vehicle.Gap
cL, 0for change start time Current vehicle and CL between distance, gap
tL, 0for change start time Current vehicle and TL between distance, gap
cL, minfor the safe distance between Current vehicle and CL, gap
tL, minfor the safe distance between Current vehicle and TL.
The present invention also provides a kind of integration for vehicle animation simulation to change Behavior modeling system, adopt as described in change Behavior modeling method for the integration of vehicle animation simulation, it is characterized in that, comprising:
Establishment of coordinate system module: that sets up road to be changed vehicle by a moving coordinate system changes geometric locus, and using the initial point of the current location of road to be changed vehicle as described moving coordinate system, using the lateral shaft along lane line direction as described moving coordinate system, using the direction perpendicular to described lateral shaft as the longitudinal axis of described moving coordinate system;
Change track describing module: based on described moving coordinate system, described in description, change the skew of geometric locus on described lateral shaft and described longitudinal axis;
Profile constraints module: based on described vehicle displacement, dynamic behavior and surrounding vehicles condition, constraint condition is formed on described impact of changing track, based on described constraint condition, the described track that changes is retrained;
Track acquisition module: based on described constraint condition, what obtain described vehicle finally changes track.
Behavior modeling system is changed in the above-mentioned integration for vehicle animation simulation, it is characterized in that, described moving coordinates are that Frenet moves frame.
Behavior modeling system is changed in the above-mentioned integration for vehicle animation simulation, it is characterized in that, the initial point of described moving coordinate system is the initial point of Frenet frame coordinate system, and described lateral shaft is the x-axis direction of Frenet frame, and described longitudinal axis is the y-axis direction of Frenet frame.
Behavior modeling system is changed in the above-mentioned integration for vehicle animation simulation, it is characterized in that, described influence factor comprises: vehicle displacement, dynamic behavior and surrounding vehicles condition.
Behavior modeling system is changed in the above-mentioned integration for vehicle animation simulation, it is characterized in that, the polynomial equation changing track described in description is:
x(t)＝A
3t
3+A
2t
2+A
1t
1+A
0
y(t)＝B
5t
5+B
4t
4+B
3t
3+B
2t
2+B
1t
1+B
0
Wherein x (t) is the skew in vehicle lane-changing process on described x-axis direction, and y (t) is the skew in vehicle lane-changing process on described y-axis direction.T ∈ [0, T], T represent to change and continue duration, are unknown parameter.A
ii=0,1,2,3 and B
ii ∈ [0,5] is unknown parameter.
Behavior modeling system is changed in the above-mentioned integration for vehicle animation simulation, it is characterized in that, the formula of described constraint condition is:
x(0)＝0,y(0)＝0,y(T)＝L
x'(0)＝v
0,x″(T)＝v
1
x'(t)∈[0,v
max],x″(t)∈[a
break,a
long]
y'(0)＝y'(T)＝0
y″(0)＝y″(T)＝0
x(t)≤v
CLT+gap
CL,0-gap
CL,min
x(t)≤v
TLT+gap
TL,0-gap
TL,min
x(t)≥v
TFT-gap
TF,0+gap
TF,min
Wherein, L is lane width, v
0for changing speed on start time lateral direction of car, v
1for driver estimate change at the end of velocity amplitude that lateral direction of car can reach.V
maxfor lateral direction of car maximal rate, a
break, a
longbe respectively the maximum deceleration on lateral direction of car and peak acceleration.CL, TL, TF are respectively current lane front vehicles, target lane preceding vehicle and target track front vehicle.Gap
cL, 0for change start time Current vehicle and CL between distance, gap
tL, 0for change start time Current vehicle and TL between distance, gap
cL, minfor the safe distance between Current vehicle and CL, gap
tL, minfor the safe distance between Current vehicle and TL.
Whether, compared to method of the prior art, the main beneficial effect of the present invention is: both can describe to change and can occur, and also can describe to change and how to carry out, meet the demand of vehicle animation simulation; Execution efficiency is high, only need the Time Calculation complexity of O (1) just can obtain and above-mentionedly change information, and the computation complexity of the existing model based on decision-making remains on an order of magnitude, drastically increases its application in traffic simulation.
Accompanying drawing explanation
Fig. 1 be integration of the present invention change analogy method schematic flow sheet;
Fig. 2 be integration of the present invention change analogy method embodiment schematic flow sheet;
Fig. 3 be integration of the present invention change simulation system structural representation.
Wherein, Reference numeral:
1 establishment of coordinate system module 2 changes track describing module
3 profile constraints module 4 track acquisition modules
S1 ~ S4, S10 ~ S40: the administration step of various embodiments of the present invention
Embodiment
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Below in conjunction with the drawings and specific embodiments, the present invention is described further.
What the invention provides a kind of integration changes analogy method, mainly to the vehicle with the demand of changing, judges whether this vehicle can perform and changes and how to change.The demand of changing refer to order about that (vehicle such as upper and lower ring road, doubling, crossing place needs conversion line) or road conditions order about vehicle in (as accident section place vehicle needs detour) situation due to path change demand.The thinking of this invention is converted in the constraint of vehicle lane-changing track by the constraint affecting vehicle lane-changing decision-making, by solve whether exist meet constraint condition change track, draw to change whether can occur and change how to carry out.Particular content comprise the foundation of coordinate system, the foundation of changing equation of locus, equation of locus constraint determination and equation of locus solve four parts.
As shown in Figure 1, Behavior modeling method is changed in a kind of integration for vehicle animation simulation of the present invention, comprising:
Establishment of coordinate system step S1: that sets up road to be changed vehicle based on a moving coordinate system changes track, and using the initial point of the current location of road to be changed vehicle as moving coordinate system, using along the lane line direction of road to be changed vehicle as the lateral shaft of moving coordinate system, using the direction perpendicular to lateral shaft as the longitudinal axis of moving coordinate system;
Coordinate system set up part, be mainly subsequent descriptions trajectory curve equation create georeferencing.This part comprises the determination of the determination of spatial frame of reference, the determination of true origin and x, y change in coordinate axis direction.
Change track and describe step S2: based upon activities coordinate system, describe respectively and change the skew of track on lateral shaft and longitudinal axis;
Profile constraints step S3: the impact based on multiple influence factor exchange roads track forms constraint condition;
Track obtaining step S4: retrain based on constraint condition exchange road track, what obtain vehicle finally changes track.
The determination of spatial frame of reference.Mainly be applicable to describing curvilinear coordinate system to build, moving coordinate system-Frenet that the present invention adopts moves frame to describe and changes geometric locus;
The determination of true origin.For coordinate system determination origin.According to the definition of moving frame, for the vehicle with the demand of changing in the present invention, using the initial point of its current location as coordinate system;
The determination of x, y change in coordinate axis direction.For coordinate system determines x, y-axis.According to the definition of moving frame, the present invention using the x-axis direction (transverse direction) along lane line direction as Frenet frame, using perpendicular to the y-axis direction (longitudinal direction) of lane line direction as Frenet frame.
That changes equation of locus sets up part.Under above-mentioned coordinate system, cubic polynomial equation and quintic algebra curve equation is adopted to describe vehicle at above-mentioned horizontal and vertical Shang Huan road track:
x(t)＝A
3t
3+A
2t
2+A
1t
1+A
0
y(t)＝B
5t
5+B
4t
4+B
3t
3+B
2t
2+B
1t
1+B
0
Wherein x (t) to represent in vehicle lane-changing process skew in the direction of the x axis, and y (t) to represent in vehicle lane-changing process skew in the y-axis direction.T ∈ [0, T], T represent to change and continue duration, are unknown parameter.A
ii=0,1,2,3 and B
ii ∈ [0,5] is multinomial coefficient, is unknown parameter.
The determining section of equation of locus constraint.The present invention considers the impact of the kinematics of vehicle self, dynamic behavior and surrounding vehicles condition exchange road track.The kinematics dynamic behavior of self comprises the constraint of changing the moment at the whole story and changing vehicle location in process, speed, acceleration.The constraint of surrounding vehicles comprises behavior is changed in current lane front vehicles (CL), target lane preceding vehicle (TL) and target track front vehicle (TF) impact on Current vehicle.Adopt as shown in the formula the relation between subrepresentation these constraint and equation of locus:
x(0)＝0,y(0)＝0,y(T)＝L
x'(0)＝v
0,x″(T)＝v
1
x'(t)∈[0,v
max],x″(t)∈[a
break,a
long]
y'(0)＝y'(T)＝0
y″(0)＝y″(T)＝0
x(t)≤v
CLT+gap
CL,0-gap
CL,min
x(t)≤v
TLT+gap
TL,0-gap
TL,min
x(t)≥v
TFT-gap
TF,0+gap
TF,min
Wherein, L represents lane width, is definite value, general 3.8 meters of domestic standard, v
0represent and change speed on start time lateral direction of car, v
1represent that driver estimates change at the end of velocity amplitude that lateral direction of car can reach.V
maxrepresent lateral direction of car maximal rate, a
break, a
longrepresent the maximum deceleration on lateral direction of car and peak acceleration.V
cL, v
tL, v
tFrepresent current lane front vehicles respectively, target lane preceding vehicle and target track front vehicle are changing the speed of start time.Gap
cL, 0represent change start time Current vehicle and CL between distance, gap
tL, 0for change start time Current vehicle and TL between distance, gap
cL, minfor the safe distance between Current vehicle and CL, gap
tL, minfor the safe distance between Current vehicle and TL.
Equation of locus solve part.According to above-mentioned constraint, what can solve acquisition vehicle further changes track.Solve Major Difficulties to be to determine unknown parameter T, the present invention is arranged by the scope of empirical parameter to T.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
As shown in Figure 2, modeling method is changed in integration disclosed in this invention.By the method, the vehicle to having the demand of changing can being realized, drawing to change whether can carry out and change how to carry out.Method comprise the foundation of coordinate system, the foundation of changing equation of locus, equation of locus constraint determination and equation of locus solve four steps.
Step S10: the foundation of coordinate system.Embodiment of the present invention employing Frenet moves frame to describe and changes geometric locus, for the vehicle with the demand of changing, using the initial point of its current location as coordinate system, using the x-axis direction (transverse direction) along lane line direction as Frenet frame, using perpendicular to the y-axis direction (longitudinal direction) of lane line direction as Frenet frame.
Step S20: the foundation of changing equation of locus.What adopt following polynomial equation to describe vehicle changes track:
x(t)＝A
3t
3+A
2t
2+A
1t
1+A
0
y(t)＝B
5t
5+B
4t
4+B
3t
3+B
2t
2+B
1t
1+B
0
Wherein x (t) to represent in vehicle lane-changing process skew in the direction of the x axis, and y (t) to represent in vehicle lane-changing process skew in the y-axis direction.T ∈ [0, T], T represent to change and continue duration, are unknown parameter.A
ii=0,1,2,3 and B
ii ∈ [0,5] is unknown parameter.
Step S30: the determination of equation of locus constraint.Above-mentioned track polynomial equation is by the restriction of following formula:
x(0)＝0,y(0)＝0,y(T)＝L
x'(0)＝v
0,x″(T)＝v
1
x'(t)∈[0,v
max],x″(t)∈[a
break,a
long]
y'(0)＝y'(T)＝0
y″(0)＝y″(T)＝0
x(t)≤v
CLT+gap
CL,0-gap
CL,min
x(t)≤v
TLT+gap
TL,0-gap
TL,min
x(t)≥v
TFT-gap
TF,0+gap
TF,min
Wherein, L is lane width, and the embodiment of the present invention adopts domestic general value to be 3.8 meters, but the present invention is not as limit, v
0represent and change speed on start time lateral direction of car, v
1represent that driver estimates change at the end of velocity amplitude that lateral direction of car can reach.V
maxrepresent lateral direction of car maximal rate, a
break, a
longrepresent the maximum deceleration on lateral direction of car and peak acceleration.CL, TL, TF represent current lane front vehicles respectively, target lane preceding vehicle and target track front vehicle.Gap
cL, 0represent change start time Current vehicle and CL between distance, gap
tL, 0for change start time Current vehicle and TL between distance, gap
cL, minfor the safe distance between Current vehicle and CL, gap
tL, minfor the safe distance between Current vehicle and TL.
Step S40: solving of equation of locus.By above-mentioned formula effect of contraction in polynomial equation, solve polynomial equation coefficient.Arranged by the scope of empirical parameter to T in solution procedure, then can unique determination multinomial coefficient, thus the equation of locus that to obtain with time t be independent variable.
The present invention also provides a kind of integration for vehicle animation simulation to change Behavior modeling system, adopt as described in change Behavior modeling method for the integration of vehicle animation simulation, comprising:
Establishment of coordinate system module 1: that sets up road to be changed vehicle by a moving coordinate system changes geometric locus, and using the initial point of the current location of road to be changed vehicle as moving coordinate system, using along lane line direction as the lateral shaft of moving coordinate system, using the direction perpendicular to lateral shaft as the longitudinal axis of moving coordinate system;
Change track describing module 2: based upon activities coordinate system, describe and change the skew of geometric locus on lateral shaft and longitudinal axis;
Profile constraints module 3: the impact based on vehicle displacement, dynamic behavior and surrounding vehicles condition exchange road track forms constraint condition, retrains based on constraint condition exchange road track;
Track acquisition module 4: based on constraint condition, what obtain vehicle finally changes track.
Wherein, these moving coordinates are that Frenet moves frame, and the initial point of this moving coordinate system is the initial point of Frenet frame coordinate system, and this lateral shaft is the x-axis direction of Frenet frame, and this longitudinal axis is the y-axis direction of Frenet frame.
In sum, the Time Calculation complexity that Behavior modeling method and system thereof can realize only needing O (1) is changed in a kind of integration for vehicle animation simulation provided by the invention, this complexity with change based on decision-making the complexity that model has a magnitude, just can obtain whole vehicle lane-changing action trail, comprise vehicle and whether can change and change process and how to carry out.
Certainly; the present invention also can have other various embodiments; when not deviating from the present invention's spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the present invention, but these change accordingly and are out of shape the protection domain that all should belong to the claim appended by the present invention.
Claims (12)
1. a Behavior modeling method is changed in the integration for vehicle animation simulation, it is characterized in that, comprising:
Establishment of coordinate system step: that sets up road to be changed vehicle based on a moving coordinate system changes track, and using the initial point of the current location of road to be changed vehicle as described moving coordinate system, using along the lane line direction of described road to be changed vehicle as the lateral shaft of described moving coordinate system, using the direction perpendicular to described lateral shaft as the longitudinal axis of described moving coordinate system;
Change track and describe step: based on described moving coordinate system, described in describing respectively, change the skew of track on described lateral shaft and described longitudinal axis;
Profile constraints step: constraint condition is formed on described impact of changing track based on multiple influence factor;
Track obtaining step: retrain the described track that changes based on described constraint condition, what obtain described vehicle finally changes track.
2. change Behavior modeling method for the integration of vehicle animation simulation according to claim 1, it is characterized in that, described moving coordinates are that Frenet moves frame.
3. change Behavior modeling method for the integration of vehicle animation simulation according to claim 1, it is characterized in that, the initial point of described moving coordinate system is the initial point of Frenet frame coordinate system, described lateral shaft is the x-axis direction of Frenet frame, and described longitudinal axis is the y-axis direction of Frenet frame.
4. change Behavior modeling method for the integration of vehicle animation simulation according to claim 1, it is characterized in that, described influence factor comprises: vehicle displacement, dynamic behavior and surrounding vehicles condition.
5. change Behavior modeling method for the integration of vehicle animation simulation according to claim 1, it is characterized in that, described in change track and be described as by polynomial equation:
x(t)＝A
3t
3+A
2t
2+A
1t
1+A
0
y(t)＝B
5t
5+B
4t
4+B
3t
3+B
2t
2+B
1t
1+B
0
Wherein x (t) is the skew in vehicle lane-changing process on described x-axis direction, and y (t) is the skew in vehicle lane-changing process on described y-axis direction.T ∈ [0, T], T represent to change and continue duration, are unknown parameter.A
ii=0,1,2,3 and B
ii ∈ [0,5] is unknown parameter.
6. change Behavior modeling method for the integration of vehicle animation simulation according to claim 1, it is characterized in that, the formula of described constraint condition is:
x(0)＝0,y(0)＝0,y(T)＝L
x'(0)＝v
0,x″(T)＝v
1
x'(t)∈[0,v
max],x″(t)∈[a
break,a
long]
y'(0)＝y'(T)＝0
y″(0)＝y″(T)＝0
x(t)≤v
CLT+gap
CL,0-gap
CL,min
x(t)≤v
TLT+gap
TL,0-gap
TL,min
x(t)≥v
TFT-gap
TF,0+gap
TF,min
Wherein, L is lane width, v
0for changing speed on start time lateral direction of car, v
1for driver estimate change at the end of velocity amplitude that lateral direction of car can reach.V
maxfor lateral direction of car maximal rate, a
break, a
longbe respectively the maximum deceleration on lateral direction of car and peak acceleration.CL, TL, TF are respectively current lane front vehicles, target lane preceding vehicle and target track front vehicle.Gap
cL, 0for change start time Current vehicle and CL between distance, gap
tL, 0for change start time Current vehicle and TL between distance, gap
cL, minfor the safe distance between Current vehicle and CL, gap
tL, minfor the safe distance between Current vehicle and TL.
7. a Behavior modeling system is changed in the integration for vehicle animation simulation, adopts and change Behavior modeling method for the integration of vehicle animation simulation according to any one of claim 1-6, it is characterized in that, comprising:
Establishment of coordinate system module: that sets up road to be changed vehicle by a moving coordinate system changes geometric locus, and using the initial point of the current location of road to be changed vehicle as described moving coordinate system, using the lateral shaft along lane line direction as described moving coordinate system, using the direction perpendicular to described lateral shaft as the longitudinal axis of described moving coordinate system;
Change track describing module: based on described moving coordinate system, described in description, change the skew of geometric locus on described lateral shaft and described longitudinal axis;
Profile constraints module: based on described vehicle displacement, dynamic behavior and surrounding vehicles condition, constraint condition is formed on described impact of changing track, based on described constraint condition, the described track that changes is retrained;
Track acquisition module: based on described constraint condition, what obtain described vehicle finally changes track.
8. change Behavior modeling system for the integration of vehicle animation simulation according to claim 6, it is characterized in that, described moving coordinates are that Frenet moves frame.
9. change Behavior modeling system for the integration of vehicle animation simulation according to claim 6, it is characterized in that, the initial point of described moving coordinate system is the initial point of Frenet frame coordinate system, described lateral shaft is the x-axis direction of Frenet frame, and described longitudinal axis is the y-axis direction of Frenet frame.
10. change Behavior modeling system for the integration of vehicle animation simulation according to claim 1, it is characterized in that, described influence factor comprises: vehicle displacement, dynamic behavior and surrounding vehicles condition.
11. change Behavior modeling system for the integration of vehicle animation simulation according to claim 6, it is characterized in that, the polynomial equation changing track described in description is:
x(t)＝A
3t
3+A
2t
2+A
1t
1+A
0
y(t)＝B
5t
5+B
4t
4+B
3t
3+B
2t
2+B
1t
1+B
0
Wherein x (t) is the skew in vehicle lane-changing process on described x-axis direction, and y (t) is the skew in vehicle lane-changing process on described y-axis direction.T ∈ [0, T], T represent to change and continue duration, are unknown parameter.A
ii=0,1,2,3 and B
ii ∈ [0,5] is unknown parameter.
12. change Behavior modeling system for the integration of vehicle animation simulation according to claim 6, it is characterized in that, the formula of described constraint condition is:
x(0)＝0,y(0)＝0,y(T)＝L
x'(0)＝v
0,x″(T)＝v
1
x'(t)∈[0,v
max],x″(t)∈[a
break,a
long]
y'(0)＝y'(T)＝0
y″(0)＝y″(T)＝0
x(t)≤v
CLT+gap
CL,0-gap
CL,min
x(t)≤v
TLT+gap
TL,0-gap
TL,min
x(t)≥v
TFT-gap
TF,0+gap
TF,min
Wherein, L is lane width, v
0for changing speed on start time lateral direction of car, v
1for driver estimate change at the end of velocity amplitude that lateral direction of car can reach.V
maxfor lateral direction of car maximal rate, a
break, a
longbe respectively the maximum deceleration on lateral direction of car and peak acceleration.CL, TL, TF are respectively current lane front vehicles, target lane preceding vehicle and target track front vehicle.Gap
cL, 0for change start time Current vehicle and CL between distance, gap
tL, 0for change start time Current vehicle and TL between distance, gap
cL, minfor the safe distance between Current vehicle and CL, gap
tL, minfor the safe distance between Current vehicle and TL.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108387242A (en) * | 2018-02-07 | 2018-08-10 | 西南交通大学 | Automatic Pilot lane-change prepares and executes integrated method for planning track |
| CN108387242B (en) * | 2018-02-07 | 2021-04-09 | 西南交通大学 | Integrated trajectory planning method for automatic driving lane change preparation and execution |
| CN110427850A (en) * | 2019-07-24 | 2019-11-08 | 中国科学院自动化研究所 | Driver's super expressway lane-changing intention prediction technique, system, device |
| CN110780602A (en) * | 2019-09-09 | 2020-02-11 | 腾讯科技（深圳）有限公司 | Method, device and equipment for constructing simulated vehicle lane change track |
| WO2021047438A1 (en) * | 2019-09-09 | 2021-03-18 | 腾讯科技（深圳）有限公司 | Method, apparatus and device for constructing simulated vehicle lane change trajectory, and storage medium |
| EP3989015A4 (en) * | 2019-09-09 | 2022-10-26 | Tencent Technology (Shenzhen) Company Limited | Method, apparatus and device for constructing simulated vehicle lane change trajectory, and storage medium |
| CN111445697A (en) * | 2020-03-22 | 2020-07-24 | 华南理工大学 | Expressway cooperative vehicle lane changing control method under intelligent network connection condition |
| CN111445697B (en) * | 2020-03-22 | 2022-06-14 | 华南理工大学 | Expressway cooperative vehicle lane changing control method under intelligent network connection condition |
| CN116383330A (en) * | 2023-06-06 | 2023-07-04 | 中航信移动科技有限公司 | Track fitting method, storage medium and electronic equipment |
| CN116383330B (en) * | 2023-06-06 | 2023-08-11 | 中航信移动科技有限公司 | Track fitting method, storage medium and electronic equipment |
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