最小安全距离下智能车安全换道模型研究

Research on safe lane change model of intelligent vehicle with minimum safety distance

针对以避免碰撞为目标的智能车换道安全问题,分析了车辆换道过程的特征;设计了具体的模拟换道场景并对车辆的运动学特性进行了分析,建立了换道车辆与相关联车辆间避免发生碰撞的最小安全距离模型。借助Matlab软件,以匀速和加速换道为例进行仿真分析,并在此基础上界定了安全区域与非安全区域。仿真结果表明:通过调整换道时的加速度及相对速度,减少换道时间,可提升智能车在换道过程中的安全性。

In order to avoid collision for intelligent vehicle lane changing target security issues, the characteristics of vehicle lane change process are analyzed; the specific simulation scene for lane change is designed and the kinematics characteristics of the vehicle are analyzed. The minimum safety distance model of collision avoidance for road vehicles and associated vehicles are established. With the help of Matlab software, a simulation analysis is carried out with uni- form speed and acceleration switching as an example, and the security region and the non-security region are defined on the basis of this method. The simulation results show that by adjusting the acceleration and relative speed of lane change, the lane changing time is reduced, and the safety of intelligent vehicle in lane changing process can be im- proved.