考虑车辆横向主动安全的智能驾驶员模型

隋振; 梁硕; 田彦涛

doi:10.16383/j.aas.c190526

考虑车辆横向主动安全的智能驾驶员模型

doi: 10.16383/j.aas.c190526

隋振^1,,
梁硕^{1, 2,},
田彦涛^{1, 3,}

1.
吉林大学通信工程学院长春 130022
2.
中国航空工业集团公司北京长城航空测控技术研究所北京 101111
3.
吉林大学工程仿生教育部重点实验室长春 130022

基金项目: 国家自然科学基金联合基金项目 (U1664263),国家重点研发计划项目(2016YFB0101102)资助

详细信息

作者简介:
隋振：吉林大学通信工程学院副教授. 吉林大学博士. 主要研究方向为复杂系统建模优化与控制. E-mail: suizhen@jlu.edu.cn

梁硕：吉林大学硕士研究生. 2019年获得吉林大学通信工程学院硕士学位. 主要研究方向为电动汽车主动安全系统与智能辅助驾驶. E-mail: liangshuo0501@163.com

田彦涛：吉林大学通信工程学院教授. 1993年吉林工业大学获得博士学位. 主要研究方向为复杂系统建模、优化与控制、电动汽车主动安全系统与智能辅助驾驶等. E-mail: tianyt@jlu.edu.cn

计量
- 文章访问数: 45
- HTML全文浏览量: 16
- 被引次数: 0
出版历程
- 收稿日期: 2019-07-14
- 录用日期: 2019-11-15

Intelligent Driving Model Considering Lateral Active Safety of Vehicles

SUI Zhen^1
,,
LIANG Shuo^{1, 2
,},
TIAN Yan-Tao^{1, 3
,}

1.
College of Communication Engineering Changchun 130022
2.
AVIC Beijing Changcheng Aeronautic Measurement ang Control Technology Research Insitute Beijing 100190
3.
Key Laboratory of Engineering Bionics of Ministry of Education Jilin University Changchun 130022

Funds: Supported by National Natural Science Foundation Joint Fund Project (U1664263), National Key Research and Development Plan Project (2016YFB0101102)

摘要

摘要: 本文将结合智能车面临的横向安全问题, 设计一种具有横向安全性的智能驾驶员模型. 该系统由转向控制、速度控制和决策规划三个模块组成. 该系统解决的横向安全问题包括: 一是通过在转向控制中加入主要约束提高车辆在转向过程中的横向稳定性, 减小车辆发生侧滑、侧倾、侧偏等风险; 二是在换道场景下, 决策规划单元合理分析交通环境中的车间距并计算出驶入临近车道的速度和轨迹, 使智能车实现安全换道. CarSim/Simulink仿真结果表明, 该智能驾驶员系统提高了车辆行驶的横向安全性.
- 智能驾驶 /
- 主动换道 /
- 转向控制 /
- 模型预测控制 /
- 轨迹规划
Abstract: In this paper, an intelligent driver model with lateral safety will be designed based on the lateral safety problems faced by intelligent vehicles. The system consists of three modules: steering control module, speed control module and decision-making module. The lateral safety problems solved by the system include: firstly, the lateral stability of the vehicle in the steering process is improved by adding major constraints to the steering controller to reduce the risk of vehicle sideslip, roll and sideslip; secondly, in the lane-changing scenario, the decision-making module analyses the environment and calculates the speed and the trajectory of the lane-changing. The simulation results show that the intelligent driver model improves the lateral safety of the vehicle.
- Intelligent driving /
- active lane changing /
- steering control /
- model predictive control /
- trajectory planning

HTML全文

图 1 驾驶员模型结构

Fig. 1 The Structure of the Driver Model

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图 2 简化3自由度车辆动力学模型

Fig. 2 The Model of the Vehicle of 3DOF

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图 3 车辆侧倾动力学模型

Fig. 3 The Roll Dynamic Model of the Vehicle

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图 4 换道前车辆分布情况

Fig. 4 Distribution of the Vehicles before Lane Change

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图 5 换道后车辆分布情况

Fig. 5 The Distribution of the Vehicles after Lane Change

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图 6 轨迹规划原理

Fig. 6 The Principle of Trajectory Planing

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图 7 工况一条件下车辆行驶状态

Fig. 7 The States of the Vehicle on Work Condition 1

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图 8 工况二条件下车辆行驶状态

Fig. 8 The States of the Vehicle on Work Condition 2

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图 9 工况三条件下车辆行驶状态

Fig. 9 The States of the Vehicle on Work Condition 3

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图 10 安全车距定义

Fig. 10 The Definition of the Vehicles Safety Distance

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图 11 工况一换道轨迹

Fig. 11 The Trajectory of the Vehicle on Work Condition 1

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图 15 工况一智能车与目标车道后车间距

Fig. 15 The Distance between the Intelligent Vehicle with the Follow Vehicle of the Target Lane on Work Condition 1

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图 12 工况一速度控制

Fig. 12 The Velocity of the Vehicle on Work Condition 1

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图 13 工况一智能车与原车道前车间距

Fig. 13 The Distance between the Intelligent Vehicle with the Lead Vehicle of the Original Lane on Work Condition 1

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图 14 工况一智能车与目标车道前车间距

Fig. 14 The Distance between the Intelligent Vehicle with the Lead Vehicle of the Target Lane on Work Condition 1

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图 16 工况二换道轨迹

Fig. 16 The Trajectory of the Vehicle on Work Condition 2

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图 20 工况二智能车与目标车道后车间距

Fig. 20 The Distance between the Intelligent Vehicle with the Follow Vehicle of the Target Lane on Work Condition 2

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图 17 工况二速度控制

Fig. 17 The Velocity of the Vehicle on Work Condition 2

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图 18 工况二智能车与原车道前车间距

Fig. 18 The Distance between the Intelligent Vehicle with the Lead Vehicle of the Original Lane on Work Condition 2

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图 19 工况二智能车与目标车道前车间距

Fig. 19 The Distance between the Intelligent Vehicle with the Lead Vehicle of the Target Lane on Work Condition 2

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图 21 工况三换道轨迹

Fig. 21 The Trajectory of the Vehicle on Work Condition 3

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图 25 工况三智能车与目标车道后车间距

Fig. 25 The Distance between the Intelligent Vehicle with the Follow Vehicle of the Target Lane on Work Condition 3

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图 22 工况三速度控制

Fig. 22 The Velocity of the Vehicle on Work Condition 3

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图 23 工况三智能车与原车道前车间距

Fig. 23 The Distance between the Intelligent Vehicle with the Lead Vehicle of the Original Lane on Work Condition 3

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图 24 工况三智能车与目标车道前车间距

Fig. 24 The Distance between the Intelligent Vehicle with the Lead Vehicle of the Target Lane on Work Condition 3

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表 1 智能驾驶员系统参数设置

Table 1 The Definition of the Intelligent Driver System

实验车M	Car A	Car B	Car C
最小安全间距$ {d_o}(m) $	$ {d_o}(3) $	$ {d_o}(2) $	$ {d_o}(1) $
加速度幅度$ (m/{s^2}) $	1.8	2.2	2.5
加速度增量$ (m/{s^2}) $	0.09	0.11	0.12
反应时间$ (s) $	0.4	0.7	0.9

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