基于 Frenet 坐标系的换道轨迹规划及跟踪验证

doi:10.16638/j.cnki.1671-7988.2022.016.005

汽车实用技术 ›› 2022, Vol. 47 ›› Issue (16): 25-30.DOI: 10.16638/j.cnki.1671-7988.2022.016.005

• 智能网联汽车 • 上一篇

基于 Frenet 坐标系的换道轨迹规划及跟踪验证

华航，陈焕明*，李雪涵

青岛大学机电工程学院

发布日期:2022-09-30
通讯作者: 陈焕明
作者简介:华航（1998—），男，硕士研究生，研究方向为无人驾驶汽车轨迹规划算法，E-mail:2020025578@qdu.edu.cn。

Research on Planning and Tracking of Lane-changing Trajectory Based on Frenet Coordinate System

HUA Hang, CHEN Huanming*, LI Xuehan

College of Mechanical and Electrical Engineering, Qingdao University

Published:2022-09-30
Contact: CHEN Huanming

摘要/Abstract

摘要： 为解决高速公路环境下的车辆自动变道问题，采用 Frenet 坐标系下的五次多项式算法对不同工况设计规划轨迹，实现自动变道辅助。首先根据自车状态与周围车辆状态预计变道所需直线距离，并在一定范围内进行多次五次多项式轨迹规划，得到备选轨迹集。以加速度最小为优化目标，对备选轨迹集中的所有轨迹进行评价，得到最佳换道轨迹。使用 CarSim 进行车辆和道路建模，在 Matlab/Simulink 中进行轨迹规划，并使用动力学模型的模型预测控制进行轨迹跟踪，验证了换道辅助系统的有效性。

关键词: Frenet 坐标系；轨迹规划；五次多项式；轨迹跟踪；模型预测控制

Abstract: To solve the problem of automatic lane changing of vehicles in the expressway environment, the fifth-order polynomial algorithm in the Frenet coordinate system is used to design and plan the trajectory according to different working conditions. First, estimate the straight-line distance required for lane change according to the state of the vehicle and surrounding vehicles, and perform fifth-order polynomial trajectory planning multiple times within a certain range to obtain candidate trajectories. Finally, with the minimum jerk as the optimization objective, all trajectories in the candidate trajectory set are evaluated to obtain the optimal lane change trajectory. CarSim is used for vehicle and road modeling, trajectory planning in Matlab/Simulink, and model predictive control of dynamic models is used for trajectory tracking, which verifies the effectiveness of the lane-changing assistant system.

Key words: Frenet coordinate system; Trajectory planning; Quintic polynomial; Trajectory tracking; Model predictive control

华航. 基于 Frenet 坐标系的换道轨迹规划及跟踪验证[J]. 汽车实用技术, 2022, 47(16): 25-30.

HUA Hang. Research on Planning and Tracking of Lane-changing Trajectory Based on Frenet Coordinate System[J]. Automobile Applied Technology, 2022, 47(16): 25-30.

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基于 Frenet 坐标系的换道轨迹规划及跟踪验证

Research on Planning and Tracking of Lane-changing Trajectory Based on Frenet Coordinate System

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