考虑换道约束空间的车辆换道模型研究  

Research on Lane-changing Models Considering Restricted Space

作　　者：王崇伦[1] 李振龙[1] 陈阳舟[1] 代桂平[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《公路交通科技》2012年第1期121-127,共7页Journal of Highway and Transportation Research and Development

基　　金：国家自然科学基金项目(60774037);国家自然科学基金青年基金项目(60904069)

摘　　要：为进一步提高换道安全性,根据不同换道需求给出四种换道情形。针对不同类型司机在不同换道情形下对安全距离的敏感度不同,提出了一种新的基于不同速度及不同司机类型的最小安全距离模型———动态椭圆最小安全距离模型。在此基础上,运用车辆运动学理论,生成换道约束空间。通过Matlab仿真对比发现,该模型较之传统最小安全距离模型在相应情形下的约束空间具有更高的安全性和灵活性。然后利用摄像机标定方法对北京市朝阳区西大望路的实际换道拍摄的图像进行处理,获取了双车道、低速情况下实际换道轨迹。并在换道约束空间下,以更加适合双车道、低速换道环境的圆弧换道轨迹为基础生成换道轨迹,最后采用回旋曲线解决了圆弧换道模型的侧向加速度过大,曲率不连续等问题。In order to further improve the security of lane-changing, depending on the different demands of lanechanging, four kinds of lane-changing situation were given. In allusion to the different sensitivities of different divers to safe distance in four kinds of lane-changing situation, a new model of lane-changing minimum safety distance based on different speeds and different types of driver, which is called dynamic ellipse model of minimum safe distance was put forward. On this basis, the restricted space was created by applying vehicle kinematics theory. Through Matlab simulation comparison, it is found that the presented model is safer and more flexible in the same situation of restricted space compared to the traditional model of minimum safe distance. In order to get the actual lane-changing trajectory in the case of two-lane and low velocity, the method of camera calibration was used to process the actual images of lane-changing in West Dawang Road, Chaoyang District, Beijing. At precondition of considering of restricted space, the lanechanging trajectory based on arc lane-changing trajectory more suited to dual carriageway lane-changing and low speed environment was generated. Finally, clothoid curve was used to solve some defects such as too high lateral acceleration and noncontinuous curvature profile of the path

关 键 词：交通工程 车辆换道模型 回旋曲线 约束空间 最小安全距离 

分 类 号：U491[交通运输工程—交通运输规划与管理]