智能汽车换道控制算法的仿真研究  

Simulation of lane change control algorithm for intelligent vehicle

作　　者：王畅[1] 秦加合[1] 郭明华[1] 孙勤英[1] 张文霞[1] 

机构地区：[1]长安大学汽车学院,陕西西安710064

出　　处：《计算机工程与设计》2013年第7期2528-2532,共5页Computer Engineering and Design

基　　金：国家自然科学基金项目(51178053;50678027);十一五国家科技支撑计划基金项目(2009BAG13A05)

摘　　要：针对传统智能车辆跟随轨迹控制方法所存在的延迟反应问题,基于预瞄-跟随理论建立了智能车辆换道过中的轨迹跟随运动模型,提出了智能车辆换道过程中的控制算法。在PreScan和matlab/simulink的联合仿真环境下,实现了智能车辆换道过程中轨迹跟随控制,并进行了36km/h、72km/h和108km/h速度下的仿真验证。仿真结果表明,仿真轨迹与实测换道轨迹走势接近且重合度较高。Aimied at the delay feedback problem of traditional following trajectory control method for intelligent vehicle, preview- follower method is used to establish lane change trajectory following movement of intelligent vehicle, and lane change control algorithm of intelligent vehicle is brought forward. Lane change trajectory following control is implemented in the unite simulation condition of PreScan and matlab/simulink. Simulation results of 36km/h, 72km/h and 108km/h shows that the simulated trajectory is similar with the real lane change trajectory.

关 键 词：智能汽车 车道变换 轨迹仿真 预瞄理论 交通工程 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]