适于复杂赛道的驾驶员“期望轨迹-期望速度”协同决策模型

Collaborative decision model of driver “desired trajectory-desired speed” applying to complex circuit

期望轨迹/速度决策是汽车驾驶行为的重要环节,但现有模型的研究对象几乎都是针对城市道路和一般公路,无法用于具有特殊性的赛道驾驶行为模拟.为此,本文根据真实世界的汽车驾驶过程和特点,提出了"前视断面选点"的轨迹计算策略,然后在其基础上构建了能够描述赛车手轨迹-速度选择行为的目标函数,根据赛道行驶环境和赛车性能设计了约束条件,并给出了"期望轨迹-期望速度"联合求解的滚动时域算法,最后,用襄阳东风汽车试验场内一条中速环道的汽车轨迹/速度实测数据和一条F1场地赛道的仿真试验值对提出的模型进行检验,结果表明本文的协同决策模型能够得到满足预期的结果并具有较好的准确度,因此能够有效模拟赛车手在赛道上的轨迹-速度选择行为.

Desired trajectory-speed decision is an important part of driving behavior, but the models of currently related researches are focus on city streets and ordinary roads, therefore, cannot be used to circuit simulation. On this context, a computational strategy of ＂selecting trajectory point on pre-view cross-section＂ was presented in this paper, and the objective function for modeling racing driver＇ desired trajectory-speed choice was developed. Then the constraint condition were established according to circuit environment and race car performance, and the receding horizon algorithm was designed to solve desired trajectory and speed. Measured data on a medium speed circuit of DongFeng proving ground located in XiangYang China and simulation of Imola F1 track located in Italian were used to verify the proposed models, and the results show that the models output can satisfy our expectation and have a good correspondence to real trajectory ＆ speed of race car on circuit, therefore it can work well in modelling the behavior of racing drivers.