关键词: 路径规划, 损失函数, 自适应, 递归最小二乘法

Abstract: Aiming at the influence of vehicle speed on safety and comfort when changing lanes autonomously, this paper proposes an optimal trajectory generation algorithm based on weight adaptation, the optimal trajectory is generated and selected by using a loss function weight adaptation method based on real-time vehicle speed and recursive least squares algorithm. In order to verify the effect of the method, this paper adopts the Unity3D simulation environment based on PhysX dynamics engine to construct a simulation environment based on 3D scenes, and ensures that the parameters of the control module and the planning algorithm are consistent in the simulation system, which is used for evaluating the effect of the weight-adaptive algorithm relative to the original algorithm in a variety of scenes. The experimental results show that the self-driving car can realize trajectory planning that meets the requirements of safety, smoothness and comfort indexes through the adaptive updating method of loss function weights, and the trajectory generated by the adaptive algorithm is smoother and more comfortable compared with the original algorithm. The research in this paper helps to improve the safety, smoothness and comfort of autonomous lane changing, and provides a research basis for the landing of autonomous driving in high-speed scenarios.

Key words: path planning, loss function, adaptive, recursive least squares algorithm