基于驾驶风格的城市快速路车辆换道轨迹研究

Research on Lane Changing Trajectory of Urban Expressway Vehicles Based on Driving Style

城市快速路上小型车辆的换道行为极易引发交通事故,且会造成交通延误,不同驾驶风格的驾驶员换道偏好也存在着差异.通过筛选航拍车辆轨迹数据库中车辆的换道数据,将驾驶风格进行分类,得到了不同风格驾驶员的换道时间均值,分别用三次多项式和七次多项式拟合了不同驾驶风格的驾驶员的换道轨迹,并用Simulink和Carsim进行联合仿真,基于模型预测控制器在不同车速条件下验证了不同风格驾驶员换道轨迹,跟踪效果较好,且横向载荷率都小于0.15.

The lane-changing behavior of small vehicles on urban expressways can easily lead to traffic accidents and traffic delays,and drivers with different driving styles have different lane-changing preferences.By screening the lane change data of vehicles in the aerial vehicle trajectory database,the driving styles were classified,and the average lane change time of drivers with different styles was obtained.The lane-changing trajectories of drivers with different driving styles were fitted by cubic polynomial and seventh polynomial respectively,and the joint simulation was carried out by Simulink and Carsim.The model-based predictive controller verifies the lane-changing trajectories of drivers with different styles under different vehicle speeds.The tracking effect is good,and the lateral load rate is less than 0.15.