Research on the safe lane change of four-wheel steering vehicles in diagonal driving
Changing lanes is common on the road.With the development of four-wheel steering technology,when a four-wheel steering car changes lanes at a high speed,its front and rear wheels improve its stability by steering in the same direction.When they are steered in the same direction with the same angle,the vehicle may be caused to drive obliquely.We study the safety of changing lanes in diagonal driving of four-wheel steering vehicles.By constructing a safe lane change model of the vehicle,analyzing the traffic speed,relative distance and lane width around the vehicle,we build a series of mathematical relationship formulas for lateral and longitudinal motion without the occurrence of collision.The accurate wheel steering angle and precise return time are obtained.Through the joint simulation of Carsim and Simulink,our results show the accurate data obtained by the mathematical formula help vehicles avoid collisions with others when driving diagonally and significantly improve their stability.
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