Emergency Turning Decision and Trajectory Planning of Intelligent Trucks in a Multi-vehicle Environment
Decision and planning are key technologies for achieving autonomous driving.In response to the issue of considering the safety of the target lane and planning the optimal obstacle avoidance trajectory for autonomous trucks during emergency turning and obstacle avoidance,a fuzzy relationship was established based on the difference between the relative distance between vehicles on the left and right lanes during lane changing and the minimum safe distance between the vehicles during lane changing.The safety values designed by fuzzy rule reasoning were compared,a safer lane for turning was selected to avoid obstacles.In order to quickly plan the optimal obstacle avoidance trajectory,a third-order Bezier curve was used to form an obstacle avoidance curve by designing the coordinates of four control points.In order to prevent the truck from rollover and collision with the vehicle in front due to excessive lateral acceleration during turning,the stability boundary and collision boundary of the vehicle were designed to constrain the control points,the functions in MATLAB was used to solve the optimal lane changing trajectory at different speeds,and finally simulation software was used for simulation verification.The results show that the designed obstacle avoidance decision and trajectory planning can safely and effectively avoid obstacles.
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