智能网联汽车双车道主动换道优化规划仿真
Simulation of Two-Lane Active Lane Change Optimization Planning of Intelligent Connected Vehicles
王飞 1黄鹤2
作者信息
- 1. 安阳工学院机械工程学院,河南 安阳 455000
- 2. 合肥工业大学汽车与交通工程学院,安徽 合肥 230009
- 折叠
摘要
由于交通流动的复杂性和不确定性,使得感知其它车辆的运动、速度、加速度等存在困难,导致双车道主动换道最优路线的获取难度较大.为此,提出智能网联汽车双车道主动换道最优路线仿真方法.建立智能网联汽车的运动学模型和动力学模型,构建换道场景获取道路信息,并判断驾驶人产生换道的意图,将车辆换道路线划分为 4 条曲线,采用三次多项式规划出满足车辆动力学和运动学约束的第一条曲线,以此求取第二、三、四条曲线,平滑连接四条曲线,获得智能网联汽车双车道主动换道的最优路线.仿真结果表明,所提方法的换道安全性高、路线规划合理性高.
Abstract
Because of the complexity and uncertainty of traffic flow,it is difficult to perceive the motion,speed and acceleration of other vehicles,leading to the difficulty in obtaining the best route of active lane change.Therefore,a method for planning the optimal route of active two-lane change of intelligent connected vehicles was proposed.Firstly,kinematics and dynamics models of intelligent connected vehicles were built.And then,the lane changing scene was constructed to obtain road information,thus judging the driver's intention of lane change.Moreover,the lane-changing route was divided into four curves.Meanwhile,the cubic polynomial was adopted to plan the first curve that meets the vehicle dynamics and kinematics constraints.On this basis,the second,third and fourth curves were ob-tained.Finally,the four curves were connected smoothly.Thus,the optimal route of active two-lane change for intelli-gent networked vehicles was obtained.Simulation results show that the proposed method has high safety of lane change and high rationality of route planning.
关键词
智能网联汽车/换道场景/主动换道/三次多项式/路线规划Key words
Intelligent connected vehicle ICV/Lane changing scene/Actively changing lanes/Cubic polynomial/Route planning引用本文复制引用
基金项目
河南省重点研发与推广专项(科技攻关)项目(212102210445)
出版年
2024
NETL
NSTL
万方数据