Research On Path Planning Of Overtaking Behavior Of Autonomous Vehicle

Autonomous vehicles are one of the current research hotspots in the automotive field.In order to make cars safer during driving,path planning for driving behavior of autonomous vehicles has become one of the current research focuses and difficulties.Overtaking is one of the most basic driving behaviors in the process of autonomous driving.Research on overtaking of vehicles can not only reduce the probability of traffic accidents caused by drivers' unreasonable overtaking,but also improve the traffic flow caused by cars on the road Congestion.This article conducts research on the overtaking of autonomous vehicles in specific scenarios on the highway.The main research contents are as follows:(1)The current status of research and application of autonomous vehicles at home and abroad is analyzed.The current status of domestic and foreign research on the current autonomous vehicle overtaking decision mechanism and overtaking path planning algorithm is analyzed.(2)Carry out research on overtaking decisions for autonomous vehicles.First,a questionnaire analysis was conducted on the reasons for the intention of overtaking on the expressway.It was concluded that the slow driving speed of vehicles in the same lane is the main reason for the driver's overtaking intention,and the relative distance between the two vehicles during overtaking Is the driver's main consideration.Secondly,the overtaking scene and overtaking process are subdivided.Finally,a rule-based decision-making model is used to study the overtaking behavior of autonomous vehicles under the highway,and a safe overtaking distance model is established.Based on this analysis,the minimum safety distance and speed dissatisfaction accumulation are used as reference indicators for decisionmaking of overtaking behavior,and the relative lateral and longitudinal speeds,accelerations,and driving traffic environment of the front and rear vehicles are considered to obtain overtaking instructions.(3)Carry out planning research on overtaking paths for autonomous vehicles.Aiming at the shortcomings of rapid search random tree(RRT)algorithm,such as blind search and insufficiently generated trajectory,vehicle kinematics constraints,constraints based on the sampling area of the biased target are introduced,and path clipping generated after collision detection is performed before The generated trajectory is smoothed based on a cubic B-spline curve.Through Matlab simulation,the results show that the path convergence speed and the quality of the generated trajectory generated by the improved rapid search random tree(RRT)algorithm planning are significantly improved.(4)Based on the PreScan and Matlab joint simulation platform,the active overtaking path planning method studied in this paper is verified.The simulation results show that the overtaking path generated by the autonomous vehicle under planning in the highway scenario meets the requirements of vehicle dynamics and can achieve safe and stable overtaking driving of the vehicle.It also proves that the overtaking path planning method studied in this paper has good robustness Great.