摘要
提出了一种紧急避障工况下三轴商用车辆局部轨迹规划策略。构建了用于轨迹采样的Frenet坐标系,将复杂三维车辆运动解耦为2个独立的二维运动,提高轨迹规划速度和效率;在此基础上,进行巡航、变道、超车及跟车等轨迹点采样,通过五次多项式拟合连接采样点形成平滑的候选参考轨迹;建立基于椭圆包络曲线的商用车改进优化轨迹碰撞检测函数,提出考虑最大曲率约束、速度约束、加速度约束以及向心加速度约束的轨迹筛选评估函数,从而形成能够保证三轴商用车辆平滑性、通过性、舒适性、安全性和稳定性的最优局部轨迹;通过直线道路工况、曲线道路工况以及“U”型道路工况等多场景仿真分析,规划轨迹的最大曲率分别减少5.26%、8.696%、27.98%,最大横摆角速度分别减少10.5%、3.79%、13.08%,从而验证了所提出三轴商用车辆避障轨迹规划策略的有效性。
As commercial vehicles are large in size and high in their gravity center,trajectory planning strategy design poses significant challenges.To address the issue,this paper proposes a local trajectory planning strategy for three-axle commercial vehicles under emergency obstacle avoidance conditions.First,a Frenet coordinate system is constructed for trajectory sampling,breaking the complex three-dimensional vehicle motion into two independent two-dimensional motions,thus improving the speed and efficiency of trajectory planning.Then,trajectory points are sampled for scenarios such as cruising,lane changing,overtaking,and following.Next,smooth candidate reference trajectories are formed by connecting the sampling points through quintic polynomial fitting.Finally,an improved optimized trajectory collision detection function for commercial vehicles based on elliptic envelope curves is established.A trajectory screening and evaluation function is proposed,considering constraints on maximum curvature,speed,acceleration,and centripetal acceleration.Thus,an optimal local trajectory is created that ensures the smoothness,passability,comfort,safety,and stability of three-axle commercial vehicles.Multi-scenario simulation analysis of straight,curved and U-shaped road conditions shows the maximum curvature of the planned trajectory decreases by 5.26%,8.696%and 27.98%respectively.Moreover,the maximum yaw rate declines by 10.5%,3.79%and 13.08%respectively.These data verify the effectiveness of the proposed trajectory planning strategy for obstacle avoidance by three-axle commercial vehicles.
作者
黄晨
邹灵杰
陈龙
孙晓强
HUANG Chen;ZOU Lingjie;CHEN Long;SUN Xiaoqiang(Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013,China)
出处
《重庆理工大学学报(自然科学)》
北大核心
2025年第5期36-44,共9页
Journal of Chongqing University of Technology:Natural Science
基金
国家自然科学基金联合基金重点项目(U20A20331)。
关键词
商用车辆
轨迹规划
Frenet坐标系
碰撞检测
轨迹筛选
commercial vehicle
trajectory planning
Frenet coordinate system
trajectory collision detection
trajectory screening
