智能车辆自由换道轨迹规划研究

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。

Trajectory Planning of Lane Changing for Intelligent Vehicles

Two defects in the traditional lane changing models at present are pointed out.The first one is the situation in which the front wheel turning angle of 0 degree is ignored in the process of lane changing;the second one is that there are several problems,for example,high lateral acceleration,the jump occurrence,the non-continuous curvature.Comparing the traditional lane changing models with other lane changing models and combining the advantages of lateral acceleration which is 0 constantly with excellent characteristics of smoothness of sine functional lane changing path,a new lane changing model is proposed,which can solve the above mentioned defects which exist in traditional models.Comparing several lane changing models by means of MATLAB simulation test,the feasibility and advantages of proposed lane changing rules are verified.