Structured trajectory planning of collision-free lane change using the vehicle-driver integration data  

作　　者：WANG Jiang Feng ZHANG Qian ZHANG Zhi Qi YAN Xue Dong 

机构地区：[1]MOE Key Laboratory for Urban Transportation Complex Systems Theory and Technology, Beijing Jiaotong University

出　　处：《Science China(Technological Sciences)》2016年第5期825-831,共7页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.61473028);the National Basic Research Program of China("973" Program)(Grant No.2012CB725403);the National High Technology Research and Development Program of China("863" Program)(Grant No.2015AA124103)

摘　　要：In this paper, the structured trajectory planning of lane change in collision-free road environment is studied and validated using the vehicle-driver integration data, and a new trajectory planning model for lane change is proposed based on linear offset and sine function to balance driver comfort and vehicle dynamics. The trajectory curvature of the proposed model is continuous without mutation, and the zero-based curvature at the starting and end points during lane change assures the motion direction of end points in parallel with the lane line. The field experiment are designed to collect the vehicle-driver integration data, such as steering angle, brake pedal angel and accelerator pedal angel. The correction Correlation analysis of lane-changing maneuver and influencing variables is conducted to obtain the significant variables that can be used to calibrate and test the proposed model. The results demonstrate that vehicle velocity and Y-axis acceleration have significant effects on the lane-changing maneuver, so that the model recalibrated by the samples of different velocity ranges and Y-axis accelerations has better fitted performance compared with the model calibrated by the sample trajectory. In addition, the proposed model presents a decreasing tendency of the lane change trajectory fitted MAE with the increase of time span of calibrating samples at the starting stage.

关 键 词：intelligent vehicle lane change trajectory planning vehicle-driver integration 

分 类 号：U463.6[机械工程—车辆工程] U495[交通运输工程—载运工具运用工程]