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智能车辆自由换道轨迹规划研究

DOI: 10.3969/j.issn.1674-0696.2013.03.35, PP. 520-524

Keywords: 换道模型,模型比较,模型性能对比,MATLAB仿真,lanechangingmodels,modelcomparison,modelperformancecomparison,MATLABsimulation

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Abstract:

:?针对目前传统换道模型存在的两个缺陷:一是忽略了换道过程中前轮转向角为0的情况;二是存在侧向加速度过大、产生跃变或轨迹曲率不连续等问题。通过对其它车辆换道模型的比较,并结合等速偏移轨迹函数其侧向加速度恒为0的优点和正弦函数换道轨迹具有优异平滑性的特点,提出了一种新的换道模型,该模型能够较好的解决已有的一些车道变换模型存在的不足。并用MATLAB仿真实验对几个换道模型进行比较,证实所提出的换道规则的可行性和优势。

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