CN109324620A - The dynamic trajectory planing method for carrying out avoidance based on lane line parallel offset and overtaking other vehicles - Google Patents
The dynamic trajectory planing method for carrying out avoidance based on lane line parallel offset and overtaking other vehicles Download PDFInfo
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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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
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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
- G05D1/0276—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 present invention relates to a kind of dynamic trajectory planing methods for carrying out avoidance based on lane line parallel offset and overtaking other vehicles, and different state spaces is established for different road scenes, realizes trajectory planning under different operating conditions；More accurate subsequent real-time track is planned in such a way that coordinate is converted and is decoupled.The utility model has the advantages that the present invention establishes different state spaces for different road scenes, realizes effective precise trajectory planning under different operating conditions；In such a way that coordinate is converted and is decoupled, more accurate real-time track planning is realized for subsequent trajectory planning side；Setting screening planned trajectory objective function and constraint condition improve the efficiency of trajectory planning and meet planned trajectory with safety, comfort and stability；The evaluation condition for guaranteeing the consistency of path is set, it avoids generating insecurity factor to planning path due to environmental change in vehicle traveling, finds that the dangerous warning of planning path carries out track weight-normality and draws or prompt when that can not select optimal path driver's interventional procedure in time.
Description
Technical field
The invention belongs to pilotless automobile technical fields, more particularly to a kind of lane line parallel offset that is based on to carry out avoidance
And the dynamic trajectory planing method overtaken other vehicles.
Background technique
With the rapid growth of car ownership, the problem that automobile belt comes is also increasingly apparent, and traffic safety problem is increasingly prominent
Out, the reason of traffic accident occurs mainly has weather, road defect, vehicle failure and driver's misoperation etc., nobody drives
The development for sailing technology can effectively solve the problem that safety problem, make up the traffic accident of artificial origin's generation.
The method for planning track of automatic driving vehicle can plan effective wheelpath on the basis of bus or train route cooperates with, with
The avoidance in vehicle travel process and function of overtaking other vehicles are realized, to greatly reduce friendship caused by erroneous judgement and maloperation because of driver
Interpreter's event.Vehicle path planning based on unmanned technology is divided into global path planning and local paths planning, global path
Plan that is be substantially carried out is the planning of road grade, local paths planning is then that road grade planning is completed according to global path
Afterwards, it is planned according to the dynamic change real-time perfoming local path of surrounding enviroment in driving process.
In the prior art, the reference locus of local paths planning is subjected to parallel offset, so that the path after parallel offset
Barrier can be got around, there are following technological difficulties: 1. since, there are curvature, unmanned vehicle drives to parallel offset path in road
Between the path that is smoothly connected be difficult to plan；2. because there is the case where being not parallel to path tangent vector in unmanned vehicle pose, nobody
The path that is smoothly connected that garage sails between parallel offset path is difficult to plan；3. on the basis of generating path, it is difficult to carry out
Smooth speed planning and acceleration planning, therefore be difficult to meet comfort requirement；4. when parallel offset path follows environment real
When Shi Bianhua, it is difficult to which the consistency for guaranteeing path planning is not able to satisfy stability requirement；5. the prior art is not suitable in structure
Change the unmanned trajectory planning on road.
Summary of the invention
It is an object of the invention to overcome the shortcomings of above-mentioned technology, and one kind is provided and is kept away based on lane line parallel offset
The dynamic trajectory planing method for hindering and overtaking other vehicles can be realized and generate follow the bus, lane-change and road in real time under various working, avoidance, surpass
The correspondence track of the decisions order such as vehicle avoids bring traffic accident of making mistakes because of artificial driver behavior not in time.
To achieve the above object, using following technical scheme: one kind carrying out avoidance based on lane line parallel offset to the present invention
And the dynamic trajectory planing method overtaken other vehicles is realized different it is characterized in that: establishing different state spaces for different road scenes
Trajectory planning under operating condition；It uses coordinate to convert and the mode decoupled is prepared into subsequent real-time planning precise trajectory, and then not
Quintic algebra curve is used to plan smooth track in real time under operating condition, the specific steps are as follows:
One, scene is defined:
1) fixed route in free environments；
2) structured road of lane line is only had no with lane boundary line；
3) there is a plurality of and runway structured road；
Two, the reference path that a fixed route is trajectory planning is chosen respectively according to scene:
For scene 1) the fixation driving path in the environment is chosen as reference path；
For scene 2) according to lane boundary line position road axis be reference path；
For scene 3) lane center when keeping a certain lanes is chosen for reference path, when lane-change is selected when driving
Taking the lane center accordingly travelled is reference path；
It three, is two independences by the decoupling of two-dimentional trajectory planning by the transform method of CARTESIAN to FRENET coordinate system
One-dimensional trajectory planning, coordinate converts to S, D axis direction, and wherein S axis is defined as reference path, and the normal direction of S axis is D axis；
Four, S, D axis direction state space, i.e. dbjective state space are generated:
For scene 1) and scene 2)
Dbjective state space (d is generated in D axis directiont,dt’,dt"),
Wherein: dtAccording to equidistant interval value [min:step:max] with the distance of the different parallel offsets of correspondence, dt’、dt”
Representation speed and acceleration, in scene 1) and scene 2) in after automatic driving vehicle drives to dbjective state space, the speed on D axis
Degree and acceleration are 0；
State space (s is generated according to vehicle present speed and target velocity on S axist、st’、st"),
Wherein stRepresent the offset distance of vehicle original driving path Yu parallel offset path；
st' represent the speed after vehicle driving to target trajectory；
st" represent the acceleration after vehicle driving to target trajectory；Vehicle keeps target carriage after reaching target trajectory space
Speed drives at a constant speed, and acceleration value is 0；
For scene 3)
Dbjective state space (d is generated on D axist,、dt’、dt"),
Wherein dtChoose distance of the center line in two lanes in left and right apart from current vehicle traveling lane center line, value table
It is shown as [left:0.0:right], wherein left is the distance away from left-hand lane center line, and right is away from right-hand lane center
The distance of line；dt’、dt" representation speed and acceleration, value be 0；
The setting of dbjective state space and scene 1 on S axis) and scene 2) consistent；
Five, target parallel offset track is determined:
For the configuration of each target under different scenes, the target trajectory of an automatic driving vehicle is generated；It is described
Target trajectory is divided into two sections, in which: between automatic driving vehicle current location and parallel offset path position be smoothly connected for
First segment path；Reaching traveling on the position for being maintained at the parallel offset path after target trajectory is second segment track.
The assessment level of the screening destination path of target parallel offset track:
The assessment level of D axial direction:
Setting screening objective function is J1=arg min Cd, CdFor the loss function in D axial direction；
Wherein loss function isK in formulaj1For the stability weight system of D axial direction
Number,The change rate of variable, k are controlled for D axial constraintt1For the time weighting coefficient of D axial direction, kd1
For the range error weight coefficient of D axial direction, the time required to T is the planning of D axial track, ddFor D axial direction target trajectory and refer to rail
Distance between mark；
The assessment level of S axial direction:
Setting screening objective function is J2=arg min Cs, CsFor the loss function in S axial direction；
Wherein loss function isK in formulaj2For the stability weight system of S axial direction
Number,The change rate of variable, k are controlled for S axial constraintt2For the time weighting coefficient of S axial direction, kd2
For the range error weight coefficient of S axial direction, the time required to T is the planning of S axial track, dsFor S axial direction target trajectory and refer to rail
Distance between mark；
The constraint of velocity of S axial direction:V in formulamaxMaximum speed limit is set for vehicle；
The acceleration of S axial direction constrains:A in formulamaxPeak acceleration is set for vehicle；
Whether the curvature for judging track is more than that the maximum of vehicle turns to restrictive condition；
Environmental information is detected, whether the track after judging planning can collide.
Whether the parallel offset track that sets the goal really described in step 5 needs to plan again: assessment level is by assessment week
Collarette border and vehicle-state judge whether to need planned trajectory again, if desired then plan again from vehicle's current condition, if
It does not need, then retains the partial traces of last planning, continue subsequent planning, complete the trajectory planning of vehicle entirety,
When system detection to vehicle can not select optimal heavy planning path to complete avoidance and overtake other vehicles, system enters alert status deceleration
It travels and prompts driver's interventional procedure；Again the planning path carries out the assessment of weight planned trajectory by trigger controller,
Evaluation condition is as follows:
1) environmental change in driving process detects the planned trajectory and causes to collide；
2) optimal solution that can not solve the D axial direction of step 5 and the objective function of S axial direction, leads to the loss letter of controller
Number is excessive, then abandons the track of current time planning.
Target trajectory described in step 5 is (s preferably for first segment track, the initial state space of vehicle0、s0’、
s0”)(d0、d0’、d0"), dbjective state space is (st、st’、0)(dt, 0,0), using quintic algebra curve exchange road track fitting,
To guarantee the smooth continuous of lane-change track；For D axial direction, according to initial state space (d0、d0’、d0") and dbjective state sky
Between (dt, 0,0) planned using quintic algebra curve, and quintic algebra curve is acquired by the time and the value in dbjective state space of setting
Coefficient；Corresponding quintic algebra curve coefficient is calculated according to the initial state space of S axial direction and dbjective state control space, with
This completes the fitting of the target trajectory of two one-dimensional squares；
For second segment track, since the parameter of D axis direction remains unchanged, the velocity and acceleration rule on S axis are only carried out
It draws；(s, d) obtained after two sections of trajectory planningsTIt is transformed to (x, y)TThe coordinate in direction completes a complete trajectory
Planning.
The utility model has the advantages that compared with prior art, the present invention is suitable for current most of road environment scene, and for not
Different state spaces is established with road scene, realizes effective precise trajectory planning under different operating conditions；Simultaneously using coordinate conversion
The mode of decoupling provides convenience for subsequent method for planning track, while more accurate real-time track planning may be implemented；Setting
Planned trajectory objective function and constraint condition are screened, improving the efficiency of trajectory planning and meeting planned trajectory has safety, relaxes
Adaptive and stability；The evaluation condition for guaranteeing the consistency of path is set, is avoided in vehicle travel process due to environmental change pair
Planning path generates insecurity factor, finds that the dangerous warning of planning path carries out track weight-normality and draws or can not select most in time
Prompt driver's interventional procedure to guarantee the safety of automatic driving vehicle when shortest path.
Detailed description of the invention
Fig. 1 is control structure block diagram of the invention；
Fig. 2 is that coordinate transform of the invention illustrates；
Fig. 3 is heavy planned trajectory assessment strategy figure of the invention；
Fig. 4 is trajectory planning length travel and lane-change time chart of the invention；
Fig. 5 is trajectory planning lateral displacement and lane-change time chart of the invention.
Specific embodiment
Below with reference to the preferred embodiment specific embodiment that the present invention will be described in detail.
It is detailed in attached drawing 1,2, present embodiments provides a kind of dynamic that avoidance is carried out based on lane line parallel offset and is overtaken other vehicles
Method for planning track realizes that track is advised under different operating conditions it is characterized in that: establishing different state spaces for different road scenes
It draws；It uses coordinate to convert and the mode decoupled is prepared into subsequent real-time planning precise trajectory, and then used under different operating conditions
Quintic algebra curve plans smooth track in real time, the specific steps are as follows:
One, scene is defined:
1) fixed route in free environments；
2) structured road of lane line is only had no with lane boundary line；
3) there is a plurality of and runway structured road；
Two, the reference path that a fixed route is trajectory planning is chosen respectively according to scene:
For scene 1) the fixation driving path in the environment is chosen as reference path；
For scene 2) according to lane boundary line position road axis be reference path；
For scene 3) lane center when keeping a certain lanes is chosen for reference path, when lane-change is selected when driving
Taking the lane center accordingly travelled is reference path；
It three, is two independences by the decoupling of two-dimentional trajectory planning by the transform method of CARTESIAN to FRENET coordinate system
One-dimensional trajectory planning, coordinate converts to S, D axis direction, and wherein S axis is defined as reference path, and the normal direction of S axis is D axis；
Four, S, D axis direction state space, i.e. dbjective state space are generated:
For scene 1) and scene 2)
Dbjective state space (d is generated in D axis directiont,dt’,dt"),
Wherein: dtAccording to equidistant interval value [min:step:max] with the distance of the different parallel offsets of correspondence, dt’、dt”
Representation speed and acceleration, in scene 1) and scene 2) in after automatic driving vehicle drives to dbjective state space, the speed on D axis
Degree and acceleration are 0；
State space (s is generated according to vehicle present speed and target velocity on S axist、st’、st"),
Wherein stRepresent the offset distance of vehicle original driving path Yu parallel offset path；
st' represent the speed after vehicle driving to target trajectory；
st" represent the acceleration after vehicle driving to target trajectory；Vehicle keeps target carriage after reaching target trajectory space
Speed drives at a constant speed, and acceleration value is 0；
For scene 3)
Dbjective state space (d is generated on D axist,、dt’、dt"),
Wherein dtChoose distance of the center line in two lanes in left and right apart from current vehicle traveling lane center line, value table
It is shown as [left:0.0:right], wherein left is the distance away from left-hand lane center line, and right is away from right-hand lane center
The distance of line；dt’、dt" representation speed and acceleration, value be 0；
The setting of dbjective state space and scene 1 on S axis) and scene 2) consistent；
Five, target parallel offset track is determined:
For the configuration of each target under different scenes, the target trajectory of an automatic driving vehicle is generated；It is described
Target trajectory is divided into two sections, in which: between automatic driving vehicle current location and parallel offset path position be smoothly connected for
First segment path；Reaching traveling on the position for being maintained at the parallel offset path after target trajectory is second segment track.
The assessment level of the screening destination path of target parallel offset track:
The assessment level of D axial direction:
Setting screening objective function is J1=arg min Cd, CdFor the loss function in D axial direction；
Wherein loss function isK in formulaj1For the stability weight system of D axial direction
Number,The change rate of variable, k are controlled for D axial constraintt1For the time weighting coefficient of D axial direction, kd1
For the range error weight coefficient of D axial direction, the time required to T is the planning of D axial track, ddFor D axial direction target trajectory and refer to rail
Distance between mark；
The assessment level of S axial direction:
Setting screening objective function is J2=arg min Cs, CsFor the loss function in S axial direction；
Wherein loss function isK in formulaj2For the stability weight system of S axial direction
Number,The change rate of variable, k are controlled for S axial constraintt2For the time weighting coefficient of S axial direction, kd2
For the range error weight coefficient of S axial direction, the time required to T is the planning of S axial track, dsFor S axial direction target trajectory and refer to rail
Distance between mark；
The constraint of velocity of S axial direction:V in formulamaxMaximum speed limit is set for vehicle；
The acceleration of S axial direction constrains:A in formulamaxPeak acceleration is set for vehicle；
Whether the curvature for judging track is more than that the maximum of vehicle turns to restrictive condition；
Environmental information is detected, whether the track after judging planning can collide.
Whether the parallel offset track that sets the goal really described in step 5 needs to plan again: assessment level is by assessment week
Collarette border and vehicle-state judge whether to need planned trajectory again, if desired then plan again from vehicle's current condition, if
It does not need, then retains the partial traces of last planning, continue subsequent planning, complete the trajectory planning of vehicle entirety,
When system detection to vehicle can not select optimal heavy planning path to complete avoidance and overtake other vehicles, system enters alert status deceleration
It travels and prompts driver's interventional procedure；Again the planning path carries out the assessment of weight planned trajectory by trigger controller,
Evaluation condition is as follows:
1) environmental change in driving process detects the planned trajectory and causes to collide；
2) optimal solution that can not solve the D axial direction of step 5 and the objective function of S axial direction, leads to the loss letter of controller
Number is excessive, then abandons the track of current time planning.
Target trajectory described in step 5 is (s preferably for first segment track, the initial state space of vehicle0、s0’、
s0”)(d0、d0’、d0"), dbjective state space is (st、st’、0)(dt, 0,0), using quintic algebra curve exchange road track fitting,
To guarantee the smooth continuous of lane-change track；For D axial direction, according to initial state space (d0、d0’、d0") and dbjective state sky
Between (dt, 0,0) planned using quintic algebra curve, and quintic algebra curve is acquired by the time and the value in dbjective state space of setting
Coefficient；Corresponding quintic algebra curve coefficient is calculated according to the initial state space of S axial direction and dbjective state control space, with
This completes the fitting of the target trajectory of two one-dimensional squares；
For second segment track, since the parameter of D axis direction remains unchanged, the velocity and acceleration rule on S axis are only carried out
It draws；(s, d) obtained after two sections of trajectory planningsTIt is transformed to (x, y)TThe coordinate in direction completes a complete trajectory
Planning.
Embodiment
Coordinate conversion and decoupling of the present invention are more convenient in two axial directions for subsequent trajectory planning, are subsequent control
Process processed also provides therefore completion trajectory planning that great convenience is capable of more precise and high efficiency, and actual trajectory planning is
It is carried out using quintic algebra curve.
Step 1, scene defines.Corresponding reference path is chosen according to road scene, the present invention relates to three kinds of application scenarios, divide
It is not: 1) fixed route in free environments；2) there is no lane line, only have the structured road of lane boundary line；3) have
A plurality of and runway structured road.
Choosing a fixed route respectively according to three above scene is trajectory planning reference path, for scene 1) it chooses
Fixation driving path in the environment is reference path；For scene 2) according to lane boundary line position road axis be reference
Path；For scene 3) lane center when keeping a certain lanes is chosen for reference path, when lane-change is chosen when driving
The lane center accordingly travelled is reference path.
Step 2, two-dimentional trajectory planning is decoupled by the transform method of CARTESIAN (Descartes) to FRENET coordinate system
For two independent one-dimensional trajectory plannings.Definition reference path is S axis, and the normal direction of S axis is D axis, and then by the seat of two-dimensional surface
Mark (x, y) is converted into coordinate (s, d), so that the geometry in real road path is transformed to two solely by two dimension planning decoupling
Vertical one-dimensional planning.
Coordinate transform mode is as shown in Fig. 2, coordinate transform step is as follows in step 2:
Step 2.1: a is set as aleatory variable, is remembered:
A'=d (a)/d (s)
A "=d (a')/d (s)
Step 2.2: settingThe tangent vector of a bit, normal vector, κ are the point on a curve respectively in two-dimensional surface
Curvature, note:
The vector of origin direction point (x, y) is under step 2.3:CARTESIAN coordinate systemFrom point (x, y) in reference path
Nearest point is (xr,yr), origin is directed toward point (xr,yr) vector be
Step 2.4: tangent vector and CARTESIAN coordinate system x-axis angle where point (x, y) on track are θx, point (xr,
yr) where tangent vector in reference path and CARTESIAN coordinate system x-axis angle be θr, the difference of the two is Δ θ=θx-θr；
Step 2.5:d, d', d ", the transformation for mula of s', s " are as follows:
if(y-yr)cosθr-(x-xr)sinθr>0,positive；otherwise
negetive
D'=(1- κrd)tanΔθ
Step 3, trajectory planning dbjective state space is generated.The generation of track respectively corresponds three kinds of different application scenarios,
For scene 1) and scene 2) dbjective state space (d is generated in D axis directiont,、 dt’、dt"), wherein dtAccording to equidistant interval
Value [min:step:max] chooses particular value with the distance of the different parallel offsets of correspondence, according to different roads width, such as
[-4.5:0.3:4.5]。 dt’、dt" representation speed and acceleration, in the scene 1 that step 1 defines) and scene 2) automatic driving car
After driving to dbjective state, the velocity and acceleration on D axis is 0；According to vehicle present speed and target velocity on S axis
Generate state space (st、st’、st"), wherein stRepresent the offset distance of vehicle original driving path Yu parallel offset path, st' generation
Speed after table vehicle driving to target trajectory, st" acceleration after vehicle driving to target trajectory is represented, because vehicle reaches mesh
Mark keeps target vehicle speed to drive at a constant speed behind track, therefore acceleration value is 0.
For scene 3), dbjective state space (d is generated on D axist、dt’、dt"), wherein dtChoose the lane of left and right two
Distance of the center line apart from current vehicle traveling lane center line, value are expressed as [left:0.0:right], and wherein left is
Distance away from left-hand lane center line, right is the distance away from right-hand lane center line, if vehicle driving is in the road leftmost side
Or rightmost side lane, then corresponding value is respectively [0.0, right] and [left, 0.0], dt’、dt" representation speed and acceleration
Value is 0.State space setting and scene 1 on S axis) and scene 2) consistent.
Step 4, new track is generated according to target parallel offset planned trajectory.For each target under different scenes
Configuration, generate the target trajectory of an automatic driving vehicle.The track is divided into two sections, and first segment is that automatic driving vehicle is current
Path is smoothly connected between position and parallel offset path position；Second segment is to reach that this is maintained at after target trajectory is parallel inclined
Move the track travelled on the position in path.
Preferably for first segment track, the initial state space of vehicle is (s0、s0’s0”)(d0、d0’、 d0"), target
State space is (st、st’、0)(dt, 0,0), using quintic algebra curve exchange road track fitting, to guarantee the smooth of lane-change track
Continuously；For D axial direction, according to initial state space (d0、d0’、d0") and dbjective state space (dt, 0,0) bring following table into
Up to formula:
d(t0)=α0+α1t0+α2t0 2+α3t0 3+α4t0 4+α5t0 5
d(td)=β0+β1td+β2td 2+β3td 3+β4td 4+β5td 5
Therefore, at this time track be designed as find the problem of meeting above-mentioned boundary condition, found out in formula according to boundary condition
α0、α1、α2、α3、α4、α5、β1、β2、β3、β4、β5Quintic algebra curve trajectory planning coefficient, t0To plan initial time, tdFor rail
Mark plans finish time, the position of trajectory planning initial time it is known that the first last moment lane-change track of trajectory planning tangent line and vehicle
Driving direction is consistent.
The present invention sets following scene in the simulating scenes of trajectory planning: vehicle with the longitudinal velocity of 25m/s start into
Row avoidance and the lane-change trajectory planning overtaken other vehicles, shift to target lane from former traveling lane within the lane-change time of 16s, are entirely changing
Vehicular longitudinal velocity remains unchanged during road, it is assumed that the central axis distance d of two current lane and target lanetFor
3.75m the location of chooses when vehicle starts lane-change as the initial origin of coordinate, thereby determines that the original state and target of vehicle
State is respectively as follows:
Sini=(0,25,0,0,0,0)
Sfin=(200,25,0,3.75,0)
(α1,α2,α3,α4,α5)=(0,0,0,0,25,0)
(β1,β2,β3,β4,β5)=(0.0005, -0.011,0.0536,0,0,0)
Quintic algebra curve coefficient can be acquired according to above-mentioned expression formula and known parameters.Similarly, according to the original state of S axial direction
Space and dbjective state control space can calculate corresponding quintic algebra curve coefficient, and the target of two one-dimensional squares is completed with this
The fitting of track, if Fig. 4, Fig. 5 are respectively length travel after quintic algebra curve is planned and lane-change time and transverse direction position
The relationship between the lane-change time is moved, it can be seen that the planing method using the above quintic algebra curve can be changed defined in figure
Lane-change is completed in the road time and vertically and horizontally position can reach desired locations, and the smooth trajectory planned meets system design
It is required that.
For second segment track, since the parameter of D axis direction remains unchanged, the velocity and acceleration rule on S axis are only carried out
It draws.(s, d) obtained after above-mentioned two sections of trajectory planningsTIt is transformed to (x, y)TThe coordinate in direction completes a complete trajectory
Planning.
Step 5, destination path is screened.A plurality of planned trajectory is obtained according to above-mentioned steps, is needed according to current ambient environmental
And set corresponding assessment level and filter out and meet vehicle feature, safety i.e. comfort requirement and expend the smallest track, with
Realize avoidance functionally and function of overtaking other vehicles.Assessment level is as follows:
Step 5.1, the assessment level of D axial direction:
Setting screening objective function is J1=arg min Cd, CdFor the loss function in D axial direction.
Wherein loss function isK in formulaj1For the stability weight system of D axial direction
Number,The change rate of variable, k are controlled for D axial constraintt1For the time weighting coefficient of D axial direction, kd1
For the range error weight coefficient of D axial direction, the time required to T is the planning of D axial track, ddFor D axial direction target trajectory and refer to rail
Distance between mark.
Step 5.2, the assessment level of S axial direction:
Similar method is used with the assessment level of D axial direction, setting screening objective function is J2=arg min Cs, CsFor
Loss function in S axial direction.
Wherein loss function isK in formulaj2For the stability weight system of S axial direction
Number,The change rate of variable, k are controlled for S axial constraintt2For the time weighting coefficient of S axial direction, kd2For
The range error weight coefficient of S axial direction, the time required to T is the planning of S axial track, dsFor S axial direction target trajectory and reference locus
Between distance.
The constraint of velocity of S axial direction:V in formulamaxMaximum speed limit is set by the road method in actual scene for vehicle
Rule setting.
The acceleration of S axial direction constrains:A in formulamaxPeak acceleration is set by the comfortable of vehicle satisfaction for vehicle
Property require setting, generally 1-2m/s2。
Step 5.3, whether the curvature for judging track is more than that the maximum of vehicle turns to restrictive condition.
Step 5.4, environmental information is detected, whether the track after judging planning can collide.
Step 6, the consistency of path is kept.With the movement of automatic driving vehicle, the environment of vehicle periphery constantly changes, by
Trajectory planning is calculated in controller and there is the time delay calculated, and the track planned in real time may be with the track of vehicle current driving
Deviation is larger, and leading to vehicle, stability is very poor in the process of moving.
It preferably needs to formulate assessment level, judges whether to need to advise again by assessment ambient enviroment and vehicle-state
Track is drawn, is if desired then planned again from vehicle's current condition, if not needing, retains the partial traces of last planning, after
It is continuous to carry out subsequent planning, the trajectory planning of vehicle entirety is completed, when system detection to vehicle can not select optimal weight-normality to draw
When path completes avoidance and overtakes other vehicles, system enters alert status Reduced Speed Now and prompts driver's interventional procedure.
The evaluation condition of trigger controller weight planned trajectory is as follows:
1) environmental change in driving process detects the planned trajectory and causes to collide；
2) optimal solution that can not solve step 5.1 and 5.2 objective functions, causes the loss function of controller excessive, then
Abandon the track of current time planning
The method that the present invention uses lane line parallel offset, plans by real-time dynamic trajectory and formulates being applicable in different fields
The track assessment level of scape determines the track of vehicle planning, guarantee vehicle safety, stabilization and it is comfortable under the premise of realize vehicle
Avoidance and overtake other vehicles.It is as shown in Figure 1 total system control framework of the invention, it is fixed for different scenes that the present invention passes through
Adopted vehicle reference path makes this method be suitable for various roads situation, to guarantee the accurate and convenient of track of vehicle planning, adopts
The method converted with coordinate, the decoupling that two coordinate dimensions are realized to FRENET coordinate system is converted from cartesian coordinate system.According to
It determines the reference path under different scenes, generates the dbjective state space of trajectory planning, pass through five according to the target trajectory of offset
Order polynomial object of planning track is formed by two sections altogether.Track is generated due to the continuous variation of environment scene, after trajectory planning to exist
It is possible that being collided with its vehicle or the track beyond vehicle own dynamics characteristic during actual travel, therefore system of the present invention
Fixed corresponding assessment level screens the target trajectory of generation, and whether inspection planning track needs weight-normality to draw, and if desired then returns
Face step carry out track planning again, travelled if not needing by current track, with support vehicles overtake other vehicles with during avoidance
Safety.
The present invention, which solves the curvature as existing for road in the prior art, to be caused between vehicle and parallel offset path
It is smoothly connected the problem of being difficult to realize and since vehicle pose is not parallel in the case of the tangent vector of path vehicle to parallel offset
Path smooth connection path is difficult to the problem of planning.At the same time, it ensure that and realize smooth speed on the basis of path smooth
Metric is drawn and acceleration planning meets the requirement of comfort, and guarantees path during the environment travelled with vehicle gradually changes
The consistency of planning meets the requirement of stability.The track under several scenes is applicable in the application scenarios that the present invention designs
Planning includes the unmanned trajectory planning of structured road.
In the description of the present invention, term " center ", " longitudinal direction ", " transverse direction ", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the scope of the invention.
Claims (4)
1. a kind of dynamic trajectory planing method for carrying out avoidance based on lane line parallel offset and overtaking other vehicles, it is characterized in that: for not
Different state spaces is established with road scene, realizes trajectory planning under different operating conditions；In such a way that coordinate is converted and is decoupled
It prepares for subsequent real-time planning precise trajectory, and then smooth track is planned using quintic algebra curve in real time under different operating conditions,
Specific step is as follows:
One, scene is defined:
1) fixed route in free environments；
2) structured road of lane line is only had no with lane boundary line；
3) there is a plurality of and runway structured road；
Two, the reference path that a fixed route is trajectory planning is chosen respectively according to scene:
For scene 1) the fixation driving path in the environment is chosen as reference path；
For scene 2) according to lane boundary line position road axis be reference path；
For scene 3) lane center when keeping a certain lanes is chosen for reference path, when lane-change chooses phase when driving
The lane center that should be travelled is reference path；
It three, is two independent one by the decoupling of two-dimentional trajectory planning by the transform method of CARTESIAN to FRENET coordinate system
Trajectory planning is tieed up, coordinate is converted to S, D axis direction,
Wherein S axis is defined as reference path, and the normal direction of S axis is D axis；
Four, S, D axis direction state space, i.e. dbjective state space are generated:
For scene 1) and scene 2)
Dbjective state space (d is generated in D axis directiont,dt’,dt"),
Wherein: dtAccording to equidistant interval value [min:step:max] with the distance of the different parallel offsets of correspondence, dt’、dt" represent
Velocity and acceleration, in scene 1) and scene 2) in after automatic driving vehicle drives to dbjective state space, speed on D axis and
Acceleration is 0；
State space (s is generated according to vehicle present speed and target velocity on S axist、st’、st"),
Wherein stRepresent the offset distance of vehicle original driving path Yu parallel offset path；
st' represent the speed after vehicle driving to target trajectory；
st" represent the acceleration after vehicle driving to target trajectory；Vehicle keeps target vehicle speed at the uniform velocity after reaching target trajectory space
Traveling, acceleration value are 0；
For scene 3)
Dbjective state space (d is generated on D axist,、dt’、dt"),
Wherein dtDistance of the center line in two lanes in left and right apart from current vehicle traveling lane center line is chosen, value is expressed as
[left:0.0:right], wherein left be the distance away from left-hand lane center line, right be away from right-hand lane center line away from
From；dt’、dt" representation speed and acceleration, value be 0；
The setting of dbjective state space and scene 1 on S axis) and scene 2) consistent；
Five, target parallel offset track is determined:
For the configuration of each target under different scenes, the target trajectory of an automatic driving vehicle is generated；The target
Track is divided into two sections, in which: being smoothly connected between automatic driving vehicle current location and parallel offset path position is first
Section path；Reaching traveling on the position for being maintained at the parallel offset path after target trajectory is second segment track.
2. the dynamic trajectory planing method according to claim 1 that avoidance is carried out based on lane line parallel offset and is overtaken other vehicles,
It is characterized in that: the assessment level of the screening destination path of target parallel offset track:
The assessment level of D axial direction:
Setting screening objective function is J1=argmin Cd, CdFor the loss function in D axial direction；
Wherein loss function isK in formulaj1For the stability weight coefficient of D axial direction,The change rate of variable, k are controlled for D axial constraintt1For the time weighting coefficient of D axial direction, kd1For D
Axial range error weight coefficient, the time required to T is the planning of D axial track, ddBetween D axial direction target trajectory and reference locus
Distance；
The assessment level of S axial direction:
Setting screening objective function is J2=argmin Cs, CsFor the loss function in S axial direction；
Wherein loss function isK in formulaj2For the stability weight coefficient of S axial direction,The change rate of variable, k are controlled for S axial constraintt2For the time weighting coefficient of S axial direction, kd2For S
Axial range error weight coefficient, the time required to T is the planning of S axial track, dsBetween S axial direction target trajectory and reference locus
Distance；
The constraint of velocity of S axial direction:V in formulamaxMaximum speed limit is set for vehicle；
The acceleration of S axial direction constrains:A in formulamaxPeak acceleration is set for vehicle；
Whether the curvature for judging track is more than that the maximum of vehicle turns to restrictive condition；
Environmental information is detected, whether the track after judging planning can collide.
3. the dynamic trajectory planing method according to claim 1 that avoidance is carried out based on lane line parallel offset and is overtaken other vehicles,
It is characterized in that: whether the parallel offset track that sets the goal really described in step 5 needs to plan again: assessment level is to pass through assessment
Ambient enviroment and vehicle-state judge whether to need planned trajectory again, if desired then plan again from vehicle's current condition,
If not needing, retain the partial traces of last planning, continue subsequent planning, completes the track rule of vehicle entirety
It draws, when system detection to vehicle can not select optimal heavy planning path to complete avoidance and overtake other vehicles, system enters alert status
Reduced Speed Now simultaneously prompts driver's interventional procedure；Again the planning path carries out commenting for weight planned trajectory by trigger controller
Estimate, evaluation condition is as follows:
1) environmental change in driving process detects the planned trajectory and causes to collide；
2) optimal solution that can not solve the D axial direction of step 5 and the objective function of S axial direction, leads to the loss function mistake of controller
Greatly, then the track of current time planning is abandoned.
4. the dynamic trajectory planing method according to claim 1 that avoidance is carried out based on lane line parallel offset and is overtaken other vehicles,
It is characterized in that: target trajectory described in step 5, preferably for first segment track, the initial state space of vehicle is (s0、s0’、
s0”)(d0、d0’、d0"), dbjective state space is (st、st’、0)(dt, 0,0), using quintic algebra curve exchange road track fitting,
To guarantee the smooth continuous of lane-change track；For D axial direction, according to initial state space (d0、d0’、d0") and dbjective state sky
Between (dt, 0,0) planned using quintic algebra curve, and quintic algebra curve is acquired by the time and the value in dbjective state space of setting
Coefficient；Corresponding quintic algebra curve coefficient is calculated according to the initial state space of S axial direction and dbjective state control space, with
This completes the fitting of the target trajectory of two one-dimensional squares；
For second segment track, since the parameter of D axis direction remains unchanged, the velocity and acceleration planning only carried out on S axis is
It can；(s, d) obtained after two sections of trajectory planningsTIt is transformed to (x, y)TThe coordinate in direction completes the rule of a complete trajectory
It draws.
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