PDF
Full
Outline
To make autonomous lane change for intelligent vehicles in the situations with no lane or unclear lane, this paper proposed a lane change trajectory planning method based on virtual lane lines. Firstly, a virtual lane was constructed to divide the road into lanes parallel to the vehicle orientation, the best lane was determined according to the minimum heading angle of collision-free lane change. Secondly, the lane change end state was determined according to the average vehicle speed of the current lane and the target lane. The lane change trajectory was generated using the quintic polynomial combined with vehicle kinematics and dynamics. The path planning algorithm proposed was added to the intelligent planning decision-making module of the intelligent vehicle for simulation and hardware-in-loop test. The results show that the method realizes the function of autonomous lane changing in the situations without lane and improve the safety and driving efficiency of the vehicle in complex traffic environment.
PDF
232
103
| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
关闭全屏
No. 86 Xueyuan South Road, Haidian District, Beijing
010-62199257
qkjq@cast.org.cn
Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House
