智能车辆自由换道轨迹规划研究

doi:10.3969/j.issn.1674-0696.2013.03.35

重庆交通大学学报（自然科学版） ›› 2013, Vol. 32 ›› Issue (3): 520-524.DOI: 10.3969/j.issn.1674-0696.2013.03.35

智能车辆自由换道轨迹规划研究

杨志刚，戚志锦，黄燕

重庆交通大学机电与汽车工程学院，重庆400074

收稿日期:2012-05-22 修回日期:2012-09-24 出版日期:2013-06-15 发布日期:2015-03-12
作者简介:杨志刚(1957—)，男，重庆人，教授，博士，主要从事车辆电子、控制技术、机电一体化等方面的研究。E-mail:zgyang5888@sina.com。

Trajectory Planning of Lane Changing for Intelligent Vehicles

Yang Zhigang，Qi Zhijin，Huang Yan

School of Mechanical ＆ Electrical ＆ Automotive Engineering，Chongqing Jiaotong University，Chongqing 400074，China

Received:2012-05-22 Revised:2012-09-24 Online:2013-06-15 Published:2015-03-12

摘要/Abstract

摘要： 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。

关键词: 换道模型, 模型比较, 模型性能对比, MATLAB仿真

Abstract: 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.

Key words: lanechangingmodels, modelcomparison, modelperformancecomparison, MATLABsimulation

中图分类号:

U491

杨志刚，戚志锦，黄燕. 智能车辆自由换道轨迹规划研究[J]. 重庆交通大学学报（自然科学版）, 2013, 32(3): 520-524.

Yang Zhigang，Qi Zhijin，Huang Yan. Trajectory Planning of Lane Changing for Intelligent Vehicles[J]. Journal of Chongqing Jiaotong University(Natural Science), 2013, 32(3): 520-524.

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智能车辆自由换道轨迹规划研究

Trajectory Planning of Lane Changing for Intelligent Vehicles

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