基于车辆动力学模型的换道轨迹规划研究

针对自动驾驶车辆换道轨迹规划时的操纵稳定性问题，基于CarSim/Simulink仿真平台建立了车辆动力学模型，构建了轨迹规划系统框架，通过轨迹信息后处理并提出了目标函数设计，进行了横向控制序列采样以保证车辆的稳定与极限性能，完成了算法对轨迹的综合评价选优。随后开展了仿真试验，对比分析了轨迹跟踪控制系统下的实际轨迹、最优规划方法所规划的换道轨迹。仿真结果表明，该轨迹规划系统框架及算法模型能有效提高车辆的操纵稳定性，可实现冰雪路面等极端工况下自动驾驶车辆换道轨迹规划。

Study on Lane-Changing Trajectory Planning Based on Vehicle Dynamics Model

To improve operational stability for lane change trajectory planning of autonomous vehicles, this paper established a vehicle dynamics model based on CarSim/Simulink co-simulation platform and constructed a trajectory planning system framework. The trajectory information was processed and then the objective function was designed. The lateral control sequence was sampled to ensure vehicle stability and the limit performance, and the comprehensive evaluation and trajectory optimization were completed. In addition,simulations have been carried out to compare the lane change trajectory from the trajectory tracking control system and the trajectory planned by the optimal planning method. The simulation results show that the system framework and the algorithm model of the proposed trajectory planning method can effectively enhance steering stability of the vehicle, and can accomplish the lane change trajectory planning of autonomous vehicles under extreme driving conditions such as snow-covered or icy road.