基于双曲正切函数的小客车换道轨迹模型

Car lane changing trajectory model based on hyperbolic tangent function

通过Simi-Motion软件提取高速公路出口路段无人机航拍视频的左换道(LLC)和右换道(RLC)车辆轨迹数据,基于双曲正切函数建立了新的车辆换道轨迹模型,将新模型与传统的样条曲线函数、五次多项式、正弦函数轨迹模型进行对比分析.通过对模型参数的敏感性分析、拟合优度检验、CarSim仿真分析证明了新模型的特点和适用性.研究表明:相比于传统的换道轨迹模型,新模型具有较高的拟合精度,且模型中各参数均具有实际物理意义,模型中参数τ值表征驾驶员出口路段换道行为的紧急程度,该参数的存在使得新模型具有普适性和应用价值.利用这一特性,该模型可以生成特定驾驶环境的车辆换道轨迹,有助于与换道有关的道路几何指标研究和驾驶员辅助系统(ADAS)的开发和应用.

The Simi-Motion software was used to extract the left lane changing(LLC)and right lane changing(RLC)trajectory data in freeway off-ramp areas from the video of unmanned aerial car(UAV).A new car lane changing trajectory model was established based on the hyperbolic tangent function.The proposed model was compared with the traditional spline curve function,fifth-order polynomial and sinusoidal function trajectory model.The characteristics and the applicability of the new model were proved by sensitivity analysis of model parameters,goodness of fit test and CarSim simulation analysis.The results show that compared with the traditional lane change trajectory model,the new model has higher fitting precision,and each parameter in the model can has actual physical meaning.The parameter ofτin the model can characterize the urgency of the driver's lane changing behavior in freeway off-ramp areas.The new parameter makes the new model more universal and applicable.With the feature,the model can generate car lane changing trajectories for specific driving environments,and it can also contribute to the study of road geometry design and the development and application of driver assistance systems(ADAS).