基于交通风险评估的个性化换道触发研究

doi:10.19562/j.chinasae.qcgc.2021.09.007

Abstract

Abstract:

Based on the results of risk assessment， how to trigger a safe， reasonable and personalized autonomous lane change is a research hotspot in the field of autonomous driving. In this paper， based on the theory of artificial potential field， the static and dynamic risk fields of obstacles are established to evaluate the risks around the vehicle. Then， the lane change data in the daily driving data of driver is extracted and analyzed to get the personalized lane change triggering. The results of real vehicle test show that using this method can well evaluate the risks in traffic environment and achieve the personalized lane change triggering.

Key words: lane change, artificial potential field, risk assessment, personalized lane change trigger

Naixuan Zhu,Zhenhai Gao,Hongyu Hu,Lü Ying,Weiguang Zhao. Research on Personalized Lane Change Triggering Based on Traffic Risk Assessment[J].Automotive Engineering, 2021, 43(9): 1314-1321.

Figures/Tables 18

参数	取值	参数	取值
$A$	1	$k v$	6
$k x$	1	$α$	0.9
$k y$	1	$β$	2

符号	含义	符号	含义
A	前轮中心	B	后轮中心
C	车辆质心	O	转向圆心
v	质心速度	R	转向半径
$l r$	质心至后轴的距离	$l f$	质心至前轴的距离
$β$	质心侧偏角	$ψ$	航向角
$δ r$	后轮侧偏角	$δ f$	前轮侧偏角

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id	X/m	Y/m	L/m	D/m	v/（m·s^-1）
0	0	0	4.4	1.6	40
1	35.84	0.21	4.5	1.8	35
2	12.27	3.74	5.5	2.0	50
3	-10.66	3.77	5	1.9	45
4	-27.94	-3.68	8.2	2.5	35

性别	平均年龄	平均驾龄/年	人数
男	29	6.5	23
女	24	2.3	7

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Research on Personalized Lane Change Triggering Based on Traffic Risk Assessment

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