Trajectory and Velocity Planning Method of Emergency Rescue Vehicle Based on Segmented Three-Dimensional Quartic Bezier Curve

In order to ensure the driving safety, comfort, stability and high mobility of emergency rescue vehicle, and considering the actual characteristics of emergency rescue vehicles like large vehicle width, high center of gravity and large turning radius, a trajectory and velocity planning method for collision avoidance based on segmented three-dimensional quartic Bezier curve is proposed. The velocity information is regarded as the vertical coordinates of corresponding trajectory coordinates, and the three-dimensional Bezier curve is used for vehicle trajectory planning, so as to make the velocity information and vehicle trajectory coordinates correspond one by one in planning results. In addition, in order to realize the effective fit between the multiple optimization objectives and the actual needs in intelligent driving, the segmented Bezier curve is used to design the vehicle trajectory, and the vehicle trajectory is divided into collision-avoidance process and lane-alignment process, so as to realize the dynamic optimization of trajectory design objectives. The results show that the proposed trajectory and velocity planning method based on segmented three-dimensional quartic Bezier curve can effectively improve the mobility of trajectory planning results, improve lane-changing efficiency and reduce lane-changing time while ensuring the design objectives of vehicle safety, comfort and stability.