湿滑路面智能车辆换道决策与轨迹规划研究

Research on Lane Changing Decision and Trajectory Planning of Intelligent Vehicle on Slippery Road

本文建立了换道意图确定模型,合理判断换道意图的产生,通过模型确定最佳换道起点。考虑湿滑路面场景下,车辆跟车和换道过程中的纵向安全性和横向稳定性,引入纵向安全性和横向稳定性模型。同时,将多目标收益函数用于为全轮转向智能车辆提供最佳换道行为决策,采用5次多项式生成车辆换道轨迹。最后,利用MATLAB/Simulink和PreScan软件搭建联合仿真平台,对所提出的模型进行了不同场景下的仿真实验,结果表明,所提出的换道决策和轨迹规划模型具有可行性。

In this paper,a lane change intention determination model is established to reasonably judge the generation of lane change intention.The model for determining the starting point of lane change is established,and the best starting point of lane change is determined.Considering the longitudinal safety and lateral stability of vehicles following and changing lanes on slippery roads,longitudinal safety and lateral stability models are introduced.The multi-objective income function is used to provide the best lane changing behavior decision for all wheel steering intelligent vehicles.Finally,the vehicle lane changing trajectory is generated by quintic polynomial.The proposed model is simulated in different scenarios by building a joint simulation platform using MATLAB/Simulink and PreScan software to verify the feasibility of the proposed lane change decision and trajectory planning model.