考虑侧倾稳定性的智能卡车动态变道轨迹规划  

Dynamic lane-changing trajectory planning for intelligent trucks considering roll stability

作　　者：周贻 聂枝根[1] 刘东 ZHOU Yi;NIE Zhigen;LIU Dong(Faculty of Transportation Engineering,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学交通工程学院,昆明650500

出　　处：《重庆理工大学学报（自然科学）》2023年第4期95-104,共10页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(52262053);云南省科技计划项目(202101AT070108);昆明理工大学课程思政内涵式建设项目(2021KS034)。

摘　　要：为实现智能卡车在实际交通环境下自主变道操作,提出了考虑侧倾稳定性的动态变道轨迹规划策略。考虑车辆悬架的动刚度特性和轮胎的非线性特性,应用TruckSim软件建立整车动力学模型,进行不同车速和路面附着系数与变道纵向长度的正交仿真实验,建立临界最小变道纵向长度的数学模型。根据周围车辆状态的动态变化,通过避障检测获得安全变道界限。设计智能卡车的变道效率、车辆稳定性等目标函数,获得最优变道轨迹。搭建Matlab/Simulink与TruckSim联合仿真平台,进行规划策略的仿真分析。仿真结果表明:所提规划策略,智能卡车能够有效避免与周围动态车辆发生碰撞,成功完成变道,并保证了智能卡车在变道过程中的侧倾稳定性。To realize automated lane-changing maneuvers for intelligent trucks in the actual traffic environment,this paper proposes a dynamic lane-changing trajectory planning strategy considering roll stability.Considering dynamic stiffness of the suspension and nonlinear characteristics of the tires,the TruckSim software vehicle dynamics model is applied to conduct orthogonal simulation experiments of different vehicle speeds,road adhesion coefficients and longitudinal length of lane-changing,and establish a mathematical model of the critical minimum longitudinal length of lane-changing.According to the dynamic changes of the surrounding vehicles,the safe lane-changing boundaries are obtained by performing obstacle avoidance detection.Objective functions like lane-changing efficiency and vehicle stability for the intelligent trucks are designed to obtain the optimal lane-changing trajectory.The co-simulation platform of Matlab/Simulink and TruckSim is built to conduct simulation analysis of planning strategies.The simulation results reveal that the proposed lane-changing planning strategy can ensure the intelligent trucks to effectively avoid collisions with the surrounding dynamic vehicles and complete the lane-changing.Besides,roll stability of the intelligent trucks can also be guaranteed during the lane-changing.

关 键 词：智能卡车变道 动态轨迹规划 车辆侧倾稳定性 动态交通环境 

分 类 号：U463.6[机械工程—车辆工程]