基于ACC车辆的主动换道控制

Active Lane Changing Control of Vehicle Based on ACC

目的:针对部分自适应巡航系统不能考虑驾驶员意图,在车辆长时间跟随低速行驶的前车情况时,无法满足驾驶员的主观需求。方法:提出一段时间内车辆行驶速度持续低于期望速度作为自适应巡航车辆的换道意图,使用最小临界碰撞距离与目标车道前、后车辆距离来决定换道过程是否危险,采用模型预测控制算法对规划的多项式曲线进行跟踪控制:利用Simulink/CarSim对目标车道有无车辆两种工况进行联合仿真。结果:与传统的自适应巡航车辆相比,既能实现定速巡航与自动跟车,也能进行主动换道。结论:采用基于自适应巡航车辆的主动换道控制策略,能够实现满足驾驶员换道意图的主动换道,且换道轨迹跟踪效果良好。

Objective:Because some adaptive cruise control systems can not consider the driver's intention,they can not meet the subjective needs of the driver when the vehicle follows the front vehicle at low speed for a long time.Methods:Compared with the traditional adaptive cruise vehicle,it can not only realize cruise control and automatic following,but also carry out active lane change.Conclusion:The active lane change control strategy based on adaptive cruise vehicle can satisfy the driver's lane change intention,and the lane change trajectory tracking effect is well.The vehicle speed continuously lower than the expected speed for a period of time is proposed as the lane changing intention of the adaptive cruise vehicle.The minimum critical collision distance and the distance between the front and rear vehicles of the target lane are used to determine whether the lane changing process is dangerous.The model predictive control algorithm is used to track and control the planned multi term curve.Simulink and CarSim is used to jointly simulate whether there are vehicles in the target lane.Results:Compared with the traditional adaptive cruise vehicle,it can not only realize cruise control and automatic following,but also carry out active lane change.Conclusion:The active lane change control strategy based on adaptive cruise vehicle can satisfy the driver's lane change intention,and the lane change trajectory tracking effect is well.