Research On Intelligent Vehicle Trajectory Planning Considering Economy

With the rapid development of automobile intelligence and network technology,automobile fuel-saving driving technology based on autonomous driving technology and Internet of Vehicles technology has become an important means to improve fuel economy.Under continuous traffic lights intersection conditions,the economical trajectory planning algorithm for the intelligent vehicle’s trajectory enables the intelligent vehicle to respond to surrounding environment in real time,and at the same time improve fuel economy by avoiding braking or stopping on the traffic lights.Therefore,the main research work of this paper is: intelligent vehicle trajectory planning algorithm and economical driving strategy under continuous traffic light intersection scene.Trajectory planning refers to outputting a trajectory according to the input information including high-precision map,perception,prediction and decision to guide the vehicle to reach the destination safely,comfortably and efficiently.In order to reduce the complexity of directly solving the trajectory planning problem that is decoupled into path planning and speed planning.The path planning is divided into two parts: global and local.Global path planning that uses searching-based planning algorithm obtains lane-level routing guidance local path planning in the map constructed based on high-precision map information.Local path planning consists of front-end and the back-end.The front-end uses samplingbased planning algorithm to obtains the feasible and poor solution for the vehicle,and the back-end uses numerical optimization to optimize the results of front-end,and finally a safe,feasible and comfortable path is obtained.The speed planning includes longitudinal decision-making and speed planning.Longitudinal decision-making uses a neural network-based algorithm to map the result of path planning and the predicted trajectory of dynamic obstacles to the longitudinal decision-making.Speed planning is solved by the method of numerical optimization in the ST configuration space adjusted based on the information of decision,And finally get a safe,efficient and comfortable speed curve.Economical driving strategy in the scene of continuous traffic light intersection:By modeling the traffic information on the road and the longitudinal kinematics of the vehicle,using the fuel consumption as the economic target,the economical driving problem is transformed into optimization problem and solved by DP.The simulation comparison with the IDM model proves the economics of this strategy.The economical trajectory planning algorithm is coupling the trajectory planning algorithm with the economical driving strategy in the continuous traffic light intersection scene.The simulation analysis proves that the algorithm not only responds to changes of the surrounding environment in real time,but also has economic efficiency in the continuous traffic light intersection scene.