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发明公开
CN108860149A 一种用于智能车辆时间最短自由变道的运动轨迹设计方法 失效 - 权利终止

一种用于智能车辆时间最短自由变道的运动轨迹设计方法
摘要：
本发明提出了一种用于智能车辆时间最短自由变道的运动轨迹设计方法，步骤如下：将智能车辆时间最短自由变道运动轨迹设计问题转换为以时间最短为性能指标的最优控制问题；将时间最短自由变道运动最优控制问题转换为可求解的最优控制问题，寻找求解方法；利用数值方法求解最优控制问题，根据车辆纵向位置和横向位置得到时间最短自由变道的运动轨迹。本发明可以根据车辆配置的车辆状态感知装置获得车辆信息，实时地设计智能车辆自由运动的轨迹，得到的轨迹满足时间最短性能指标；可广泛用于多种车辆运动场景，有益于车道上车辆行驶和超车减少占用快速车道时间，使得其可以用于智能车辆更复杂的操作，如合流、双变道、驶入/驶出高速公路和超车。
摘要（英）：

The invention provides a design method for a shortest-time free Lane change motion traiL of an inteLLigent vehicLe. The method comprises the foLLowing steps that the design probLem for the shortest-time free Lane change motion traiL of the inteLLigent vehicLe is converted into an optimaL controL probLem with shortest time as a performance index; the optimaL controL probLem for shortest-time free Lane change motion is converted into an optimaL controL probLem which can be soLved, and a soLution method is searched for; a numericaL method is used for soLving the optimaL controL probLem, and the motion traiL of shortest-time free Lane change is obtained according to the verticaL and horizontaL positions of the vehicLe. According to the design method, vehicLe information is obtained through a vehicLe state sensing device arranged on the vehicLe, the free motion traiL of the inteLLigent vehicLe is designed in reaL time, and the obtained traiL meets the shortest-time performance index; the method can be wideLy appLied to various vehicLe motion scenes, the time of occupying quick Lanes during vehicLe driving and overtaking on the Lanes is convenientLy shortened, and the method can be appLied to more compLex operation, such as confLuence, doubLe Lane change, driving in/out of an expressway and overtaking, of the inteLLigent vehicLe.

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