摘要
针对传统的车辆换道模型在换道过程中存在着侧向加速度过大或产生跃变、轨迹曲率不连续以及换道过程起始时刻侧向加速度不为零的问题,以四段式车道变换理论为基础,提出一种新的车辆自由换道轨迹函数,并引入B样条理论对换道轨迹进行再规划,进而建立一种新的高速公路车辆自由换道模型。该模型能够较好的解决传统车道变换模型存在的上述缺陷。给定车辆换道轨迹性能评价参数,利用Matlab仿真计算得到新模型产生的换道轨迹,并与另外两种换道模型产生的轨迹进行对比分析。分析结果验证了该模型的正确性及有效性。
Traditional lane change models in the process of lane changing have defects such as the lateral acceleration is too high or have jumps, the path has a noncontinuous curvature profile, and the lateral acceleration at initial moment in the process of lane changing is not zero. A new lane change function based on principle of four -phase lane changing model was put forward and the lane change path was rebuilt by adopting B-spline theory, at last a new lane change model for vehicles on highway was built. The new model could resolve the abovementioned existent defects in traditional models. With the given evaluation parameters of the lane changing path, the lane change path from this new model was calculated by Matlab software, and compared with the lane changing paths from two traditional models. The analysis result proved the correctness and feasibility of this new lane change model.
出处
《公路交通科技》
CAS
CSCD
北大核心
2010年第2期119-123,共5页
Journal of Highway and Transportation Research and Development
基金
北京市教委重点项目
北京市自然科学基金资助项目(JJ002790200802)
关键词
交通工程
换道模型
B样条曲线
再规划
侧向加速度
traffic engineering
lane change model
B-spline curve
replan
lateral acceleration
