基于安全距离的雾天车辆换道轨迹模型

doi:10.16265/j.cnki.issn1003-3033.2022.07.1182

中国安全科学学报 ›› 2022, Vol. 32 ›› Issue (7): 165-171.doi: 10.16265/j.cnki.issn1003-3033.2022.07.1182

基于安全距离的雾天车辆换道轨迹模型

冯嵩¹(), 钱宇彬¹^,^**(), 曲现国², 王婉秋¹

1 上海工程技术大学机械与汽车工程学院,上海 201620
2 国家市场监督管理总局缺陷产品管理中心,北京 100012

收稿日期:2022-01-11 修回日期:2022-05-13 出版日期:2022-08-12 发布日期:2023-01-28
通讯作者: 钱宇彬
作者简介:
作者简介：冯嵩 (1996—),男,山东泰安人,硕士研究生,研究方向为智能车辆路径规划与跟踪控制、车辆主动安全技术。E-mail: fengsong_37@163.com。
王婉秋, 讲师

Vehicle lane-changing trajectory model in foggy weather based on safety distance

FENG Song¹(), QIAN Yubin¹^,^**(), QU Xianguo², WANG Wanqiu¹

1 School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
2 Defective Product Administrative Center, SAMR, Beijing 100012, China

Received:2022-01-11 Revised:2022-05-13 Online:2022-08-12 Published:2023-01-28
Contact: QIAN Yubin

摘要/Abstract

摘要：

为提升恶劣天气下的车辆安全性,基于安全距离提出一种轨迹模型,首先,引入附着系数、延迟反应时间,确定雾天条件下的换道初始距离与跟驰距离;其次,考虑曲率、横向速度与横向加速度对舒适性与安全性的影响,通过余弦与双曲正切函数建立换道轨迹,从而建立雾天的车辆换道模型;然后,在跟踪控制部分,基于车辆动力学建立模型预测跟踪控制器,尽可能按照规划轨迹的同时控制前轮转角生成满足动力学约束的实际路径;最后,在Matlab/Simulink与Carsim的联合环境中进行仿真验证。结果表明:基于安全距离的换道模型能够完整的规划整个过程,且横向加速度、前轮转角、质心侧偏角满足舒适性与稳定性的要求,从而规划安全稳定的换道轨迹。

关键词: 安全距离, 雾天, 换道轨迹, 舒适性, 跟踪控制

Abstract:

In order to improve vehicle safety in bad weather, a trajectory model was proposed based on safety distance. Firstly, adhesion coefficient and delay reaction time were introduced to determine initial distance of lane changing and following distance under foggy conditions. Secondly, considering influence of curvature, lateral speed and lateral acceleration on comfort and safety, lane-changing trajectory was established through cosine and hyperbolic tangent functions, so as to establish a vehicle lane-changing model in foggy days. Then, in tracking control part, a model predictive tracking controller was developed based on vehicle dynamics, which generated a real path that satisfied dynamic constraints by controlling steering angle of front wheels as much as possible according to planned trajectory. Finally, simulation verification was carried out in joint environment of Matlab/Simulink and Carsim. The results show that the lane-changing model based on safety distance can completely plan entire process. And lateral acceleration, front-wheel angle, and sideslip angle meet the requirements of comfort and stability, generating a safe and stable lane-changing trajectory.

Key words: safety distance, foggy weather, lane-changing trajectory, comfort factor, tracking control

冯嵩, 钱宇彬, 曲现国, 王婉秋. 基于安全距离的雾天车辆换道轨迹模型[J]. 中国安全科学学报, 2022, 32(7): 165-171.

FENG Song, QIAN Yubin, QU Xianguo, WANG Wanqiu. Vehicle lane-changing trajectory model in foggy weather based on safety distance[J]. China Safety Science Journal, 2022, 32(7): 165-171.

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基于安全距离的雾天车辆换道轨迹模型

Vehicle lane-changing trajectory model in foggy weather based on safety distance

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