基于Carsim和Simulink的超车换道仿真分析

Simulation and Analysis on Overtaking Lane Change Based on Simulink and Carsim

超车是换道的主要动机,分析超车过程中驾驶员的操作特性以及车辆运动状态,能够为驾驶员模型的精确控制提供参考。在分析各种可能换道的基础上,构建动态超车换道可行域。以7次多项式规划换道边界轨迹,依据期望跟车距离确定可行域的上边界,根据安全碰撞条件确定可行域的下边界;并依据两车的运动关系确定超车换道条件。预设超车换道轨迹,在Simulink中构建驾驶员模型;并将Carsim中车辆模型导入,进行了超车换道模型仿真分析。对超车过程中车辆参数进行对比分析。结果表明:超车过程中驾驶员一般会提高车速,但加速强度不大;且低速时换道的随意性大,但与设定轨迹偏离程度较小。

Overtaking is a main goal forlane change and analysis on driver＇s operation performance and vehicle movement states in overtaking lane change can provide accurate control for driver＇ s model.The motion feasible regions of overtaking lane change can be established on the basis of all of anslysis on lane change.Then seven polynomial is adopted to scheme boundary trajectory of lane change.The upper boundary can be determined according to the expected car-following distance and the under feasible boundary can be obtained by the safety crash conditions.In addition,movement relationships between two vehicles are adopted to determined overtaking lane change conditions and overtaking lane change trajectory is arranged.The driver model is established in simulink and vehicle model in carsim is to guide into simulink.The overtaking lane change model is simulated and vehicle parameters in overtaking lane change are achieved comparison analysis.The simulation results show that drivers would increase vehicle speed during overtaking lane change and acceleration intensity is not large.Therandom of overtaking lane change at low speed is large,but the departure degree which is related to the setting trajectory is small.