Research On Intelligent Vehicle Trajectory Planning Based On Comprehensive Information Perception

With the ever-growing science and technology and the ever-increasing living conditions of mankind,more and more families are able to afford automobiles.Under such a large amount of car ownership,corresponding traffic accidents have already caused the attention of the relevant departments and ordinary people.In general,the driving condition of the vehicle depends on the driver’s condition.In order to reduce the accident rate,auto-driving cars with lower accident rates have gradually been brought into the public view,so that traffic pressure,driving load and road utilization rate have been significantly improved.From the birth of the car until now,the pace of development of the automotive industry has never stopped.Especially in recent years,it has developed explosively.It has only been a matter of a few short years since the fuel industry of the automobile industry has been transformed from the fueling of the past 100 years to the current widespread electric motorization,followed by the development of connected vehicle and intelligent vehicle.The research focus of this article is one of the four,which is intelligentize also known as self-driving car or driverless car.The research content of this paper is comprehensive information perception and autopilot vehicle planning and control.Comprehensive information perception includes V2 X perception and vehicle self-sensing.Smart vehicle planning and control include path planning,behavioral decision,motion planning and feedback control,including motion planning include trajectory planning and speed planning.This article focuses on trajectory planning and velocity planning under conditions of comprehensive information perception.The two plans were studied in detail in the article.In the motion planning,the S-L coordinate system is first established and the optimal trajectory curve is selected according to the method of graph theory search combined with the cost setting,and then the speed of the current trajectory is planned according to the obtained trajectory curve.Finally,according to the feedback control,the planned trajectory and the planned speed are tracked and controlled so as to realize the automatic driving of the vehicle.In the Integrated Information Awareness section,three concepts,namely,collision avoidance based on vehicle networking,based on vehicle and roadside equipment communication to avoid obstacles and improve road utilization,and sensor fusion and location were introduced respectively.The comprehensive concept was elaborated.During the research process,a model car was designed and developed to assist in the completion of the experimental work.The structural design,three-dimensional modeling and processing of automatic driving model car prototypes.Select the model car parts according to the necessary indexes.Then,the electronic control part and the sensing part of the prototype of the model car are designed and selected,and the prototype platform of the entire automatic driving model car is gradually improved.The final part is the design of the software part.This part includes the selection,trimming and application of the operating system,as well as the design and programming of the application under the operating system.In the experimental part of the model car,aseries of model car platform test work was performed to ensure that the vehicle can run normally on the road surface.The straight-ahead and turning scenes based on V2 X,the model car is designed for collision avoidance to verify the algorithm of the model car and test the performance of the driving part of the model car.