提出兼顾安全与效率的匝道变道规划方法
Efficient and Safe Planner for Automated Driving on Ramps Considering Unsatisfication
- 用不满意度度量效率，箭头聚类采样保障安全
- 仿真验证无碰撞，能精准选定变道时机与路径
- 适合自动驾驶在复杂匝道场景落地应用
匝道自动驾驶面临变道时安全与效率平衡的重大挑战。本文提出一种集成式自动驾驶车辆规划器，采用不满意度指标衡量效率，并基于箭头聚类采样实现安全性评估。规划器综合考虑车辆速度等关键因素，识别最优变道时机，并通过箭头聚类采样评估碰撞风险，选择最优变道轨迹。大量仿真测试在匝道场景中验证了该规划器的高效与安全性。结果表明，所提方法能有效选择合适的变道时间点与安全变道曲线，在整个变道过程中未发生任何碰撞。
原文摘要 · Abstract (English)
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an unsatisfactory level metric for efficiency and arrow-cluster-based sampling for safety. The planner identifies optimal times for the AV to change lanes, taking into account the vehicle's velocity as a key factor in efficiency. Additionally, the integrated planner employs arrow-cluster-based sampling to evaluate collision risks and select an optimal lane-changing curve. Extensive simulations were conducted in a ramp scenario to verify the planner's efficient and safe performance. The results demonstrate that the proposed planner can effectively select an appropriate lane-changing time point and a safe lane-changing curve for AVs, without incurring any collisions during the maneuver.
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