摘要
针对多数的自适应巡航系统因不能考虑驾驶员意图,在遇到施工路段、道路合流或者车辆长时间跟随低速行驶的前车等情况时,造成无法满足驾驶员的主观需求和节能要求的问题。在传统自适应巡航系统模型基础上考虑了驾驶员意图辨识,提出了基于五次多项式曲线的换道路径规划,通过对换道轨迹约束条件的分析,得出了换道轨迹方程。通过构造跟随性指标以及舒适性指标的代价函数选取合适的换道轨迹方程。提出了基于两点预瞄的轨迹跟踪控制,实现了对换道轨迹的良好跟踪,并结合CarSim与Simulink进行联合仿真实验。仿真结果表明,采用此自适应巡航控制策略,既可实现传统意义上的定速巡航与自动跟车,又可实现满足换道意图的自主决策换道,换道效果良好且具有较强的实用性。
Most of the adaptive cruise systems fail to consider the driver's intention,which makes it impossible to meet the driver's subjective needs and energy saving requirements when encountering construction sections,road merging,or vehicles following the leading vehicle at low speed for a long time.Based on the traditional adaptive cruise system model,driver intention identification is considered,and lane change path planning based on the quintic polynomial curve is proposed.The lane change trajectory equation is obtained by analyzing the lane change trajectory constraint conditions.Secondly,the suitable track changing equation is selected by constructing the following index and the cost function of the comfort index.Finally,a trajectory tracking control based on two-point presight is proposed,which can track the trajectory of the lane change well.The co-simulation experiment is carried out by combining CarSim and Simulink.The simulation results show that the adaptive cruise control strategy can not only realize the traditional cruise and automatic following,but also realize the independent decision lane change satisfying the lane change intention.The lane change effect is good and has strong practicability.
作者
蒋江月
Jiang Jiangyue(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《农业装备与车辆工程》
2021年第9期49-53,103,共6页
Agricultural Equipment & Vehicle Engineering
关键词
自适应巡航
五次多项式
轨迹规划
约束分析
跟踪控制
adaptive cruise
quintic polynomials
trajectory planning
constraint analysis
tracking control
作者简介
蒋江月(1997-),男,硕士研究生,车辆工程专业,研究方向:智能驾驶。E-mail:jiangusst@163.com。
