汽车工程

汽车工程 ›› 2019, Vol. 41 ›› Issue (9): 1013-1020.doi: 10.19562/j.chinasae.qcgc.2019.09.005

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高速公路弯道路段车辆紧急避撞安全换道模型*

彭涛1, 苏丽俐2, 关志伟1, 张荣辉3, 宗长富4, 李俊凯1   

  1. 1.天津职业技术师范大学汽车与交通学院,天津 300222;
    2.中国汽车技术研究中心有限公司,天津 300222;
    3.中山大学,广东省智能交通系统重点实验室,广州 510275;
    4.吉林大学,汽车仿真与控制国家重点实验室,长春 130025
  • 收稿日期:2018-07-25 修回日期:2018-11-08 出版日期:2019-09-25 发布日期:2019-10-12
  • 通讯作者: 张荣辉,博士,E-mail:zrh1981819@126.com
  • 基金资助:
    国家自然科学基金(51775565,U1811463)、天津市自然科学基金(16JCZDJC38200)、天津市科技计划项目(16PTGCCX00150)、天津市科技支撑重点项目(18YFZCGX00380)和天津职业技术师范大学人才启动项目(KYQD1710)资助。

A Safe Lane-change Model for Vehicle EmergentCollision Avoidance on Curved Section of Highway

Peng Tao1, Su Lili2, Guan Zhiwei1, Zhang Ronghui3, Zong Changfu4 & Li Junkai1   

  1. 1.School of Automobile and Transportation, Tianjin University of Technology and Education, Tianjin 300222;
    2.China Automotive Technology and Research Center Co., Ltd., Tianjin 300222;
    3.Sun Yat-sen University, Guangdong Key Laboratory of Intelligent Transportation System, Guangzhou 510275;
    4.Jilin University, State Key Laboratory of Automotive Simulation and Control, Changchun 130025
  • Received:2018-07-25 Revised:2018-11-08 Online:2019-09-25 Published:2019-10-12

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摘要： 针对高速公路弯道路段安全换道问题,本文中基于侧向速度正态分布拟合方法,建立了考虑人车路相互作用的高速公路弯道路段车辆紧急避撞安全换道模型,并依据车辆安全避撞位置关系,提出了车辆弯道换道的安全性约束条件,获得了车辆制动换道方式下的车辆最小避撞安全距离。通过与传统模型和2自由度车辆动力学模型仿真对比,结果表明,该模型能较准确地描述车辆弯道路段换道运动轨迹和计算车辆避撞最小安全距离。车辆弯道避撞安全换道模型充分考虑了人、车、路之间的协同关系,为智能车辆与辅助驾驶的研究提供了参考。

关键词: 高速行驶安全, 弯道路段, 换道模型, 紧急避撞, 最小安全距离

Abstract: Aiming at the safety problem of vehicle lane change on the curved section of highway, a lane-change model for emergent collision avoidance is established based on the normal distribution fitting of vehicle lateral velocity, with consideration of human-vehicle-road interaction, and according to the location relation of vehicle collision avoidance, the safety constraint conditions of lane change on curved road are proposed, and the minimum safe distance for vehicle collision avoidance is obtained under the condition of lane change with braking. The results of simulation compared with those with traditional model and 2 DOF vehicle dynamics model show that the model established can accurately describe the lane-change trajectory on curved section and calculate the minimum safe distance for vehicle collision avoidance. The safe lane-change model set up for collision avoidance fully considers the cooperative relationship among human, vehicle and road, providing valuable reference for the research on intelligent vehicle and assisted driving.

Key words: high-speed driving safety, curved section, lane-change model, emergent collision avoidance, minimum safe distance