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                    考慮車輛橫向主動安全的智能駕駛員模型

                    隋振 梁碩 田彥濤

                    隋振,  梁碩,  田彥濤.  考慮車輛橫向主動安全的智能駕駛員模型.  自動化學報,  2021,  47(8): 1899?1911 doi: 10.16383/j.aas.c190526
                    引用本文: 隋振,  梁碩,  田彥濤.  考慮車輛橫向主動安全的智能駕駛員模型.  自動化學報,  2021,  47(8): 1899?1911 doi: 10.16383/j.aas.c190526
                    Sui Zhen,  Liang Shuo,  Tian Yan-Tao.  Intelligent driving model considering lateral active safety of vehicles.  Acta Automatica Sinica,  2021,  47(8): 1899?1911 doi: 10.16383/j.aas.c190526
                    Citation: Sui Zhen,  Liang Shuo,  Tian Yan-Tao.  Intelligent driving model considering lateral active safety of vehicles.  Acta Automatica Sinica,  2021,  47(8): 1899?1911 doi: 10.16383/j.aas.c190526

                    考慮車輛橫向主動安全的智能駕駛員模型

                    doi: 10.16383/j.aas.c190526
                    基金項目: 國家自然科學基金聯合基金 (U1664263), 國家重點研發計劃項目(2016YFB0101102)資助
                    詳細信息
                      作者簡介:

                      隋振:吉林大學通信工程學院副教授, 博士. 主要研究方向為復雜系統建模優化與控制. 本文通信作者. E-mail: suizhen@jlu.edu.cn

                      梁碩:2019年獲得吉林大學通信工程學院碩士學位. 主要研究方向為電動汽車主動安全系統與智能輔助駕駛. E-mail: liangshuo0501@163.com

                      田彥濤:吉林大學通信工程學院教授. 1993年吉林工業大學獲得博士學位. 主要研究方向為復雜系統建模, 優化與控制, 電動汽車主動安全系統與智能輔助駕駛. E-mail: tianyt@jlu.edu.cn

                    Intelligent Driving Model Considering Lateral Active Safety of Vehicles

                    Funds: Supported by National Natural Science Foundation Joint Fund Program of China (U1664263), National Key Research and Development Program of China (2016YFB0101102)
                    More Information
                      Author Bio:

                      SUI Zhen  Ph.D., associate professor at the School of Communication Engineering, Jilin University. His research interest covers complex system modeling optimization and control. Corresponding author of this paper

                      LIANG Shuo Received his master degree from Jilin University in 2019. His research interest covers electric vehicle active safety system and intelligent assisted driving

                      TIAN Yan-Tao Professor at the School of Communication Engineering, Jilin University. He received his Ph.D. degree from Jilin University of Technology in 1993. His research interest covers modeling and optimized control of complex systems, active safety systems of the electric vehicles, and advanced driver assistance systems

                    • 摘要:

                      結合智能車面臨的橫向安全問題, 設計了一種具有橫向安全性的智能駕駛員模型. 該系統由轉向控制、速度控制和決策規劃三個模塊組成. 該系統的主要作用包括: 一是通過在轉向控制中加入主要約束提高車輛在轉向過程中的橫向穩定性, 減小車輛發生側滑、側傾、側偏等風險; 二是在換道場景下, 決策規劃單元合理分析交通環境中的車間距并計算出駛入臨近車道的速度和軌跡, 使智能車實現安全換道. CarSim/Simulink仿真結果表明, 該智能駕駛員系統提高了車輛行駛的橫向安全性.

                    • 圖  1  駕駛員模型結構

                      Fig.  1  The structure of the driver model

                      圖  2  簡化3自由度車輛動力學模型

                      Fig.  2  The model of the vehicle of 3DOF

                      圖  3  車輛側傾動力學模型

                      Fig.  3  The roll dynamic model of the vehicle

                      圖  4  換道前車輛分布情況

                      Fig.  4  Distribution of the vehicles before lane change

                      圖  5  換道后車輛分布情況

                      Fig.  5  Distribution of the vehicles after lane change

                      圖  6  軌跡規劃原理

                      Fig.  6  The principle of trajectory planing

                      圖  7  工況1條件下車輛行駛狀態

                      Fig.  7  The states of the vehicle on work Condition 1

                      圖  8  工況2條件下車輛行駛狀態

                      Fig.  8  The states of the vehicle on work Condition 2

                      圖  9  工況3條件下車輛行駛狀態

                      Fig.  9  The states of the vehicle on work Condition 3

                      圖  10  安全車距定義

                      Fig.  10  The definition of the vehicles safety distance

                      圖  11  工況1換道軌跡

                      Fig.  11  The trajectory of the vehicle on work Condition 1

                      圖  15  工況1智能車與目標車道后車間距

                      Fig.  15  The distance between the intelligent vehicle with the follow vehicle of the target lane on work Condition 1

                      圖  12  工況1速度控制

                      Fig.  12  The velocity of the vehicle on work Condition 1

                      圖  13  工況1智能車與原車道前車間距

                      Fig.  13  The distance between the intelligent vehicle with the lead vehicle of the original lane on work Condition 1

                      圖  14  工況1智能車與目標車道前車間距

                      Fig.  14  The distance between the intelligent vehicle with the lead vehicle of the target lane on work Condition 1

                      圖  16  工況2換道軌跡

                      Fig.  16  The trajectory of the vehicle on work Condition 2

                      圖  20  工況2智能車與目標車道后車間距

                      Fig.  20  The distance between the intelligent vehicle with the follow vehicle of the target lane on work Condition 2

                      圖  17  工況2速度控制

                      Fig.  17  The velocity of the vehicle on work Condition 2

                      圖  18  工況2智能車與原車道前車間距

                      Fig.  18  The distance between the intelligent vehicle with the lead vehicle of the original lane on work Condition 2

                      圖  19  工況2智能車與目標車道前車間距

                      Fig.  19  The distance between the intelligent vehicle with the lead vehicle of the target lane on work Condition 2

                      圖  21  工況3換道軌跡

                      Fig.  21  The Trajectory of the vehicle on work Condition 3

                      圖  25  工況3智能車與目標車道后車間距

                      Fig.  25  The distance between the intelligent vehicle with the follow vehicle of the target lane on work Condition 3

                      圖  22  工況3速度控制

                      Fig.  22  The velocity of the vehicle on work Condition 3

                      圖  23  工況3智能車與原車道前車間距

                      Fig.  23  The distance between the intelligent vehicle with the lead vehicle of the original lane on work Condition 3

                      圖  24  工況3智能車與目標車道前車間距

                      Fig.  24  The distance between the intelligent vehicle with the lead vehicle of the target lane on work Condition 3

                      表  1  智能駕駛員系統參數設置

                      Table  1  The definition of the intelligent driver system

                      實驗車M Car A Car B Car C
                      最小安全間距${d_o}({\rm{m}})$ $ {d_o}(3) $ $ {d_o}(2) $ ${d_o}(1)$
                      加速度幅度$({\rm{m/{s}}^2})$ 1.8 2.2 2.5
                      加速度增量$({\rm{m/{s}}^2})$ 0.09 0.11 0.12
                      反應時間$({\rm{s}})$ 0.4 0.7 0.9
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                    • 收稿日期:  2019-07-14
                    • 錄用日期:  2019-11-15
                    • 網絡出版日期:  2021-06-28
                    • 刊出日期:  2021-08-20

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