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

doi:10.16265/j.cnki.issn1003-3033.2022.07.1182

Abstract

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

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.

Figures/Tables 10

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