变曲率弯路车辆换道虚拟轨迹模型

发布时间：2018-04-09 21:11

本文选题：车辆换道　切入点：轨迹规划　出处：《物理学报》2014年07期

【摘要】：研究自动化公路系统车辆换道虚拟轨迹规划方法,建立基于奇次多项式的变曲率弯路换道轨迹模型.假设车辆起始车道和目标车道具有相同的瞬时中心,把车辆在弯曲路段换道时的运动分解为向道路瞬心的直线运动和绕道路瞬心的圆周转动.假设向心运动位移和转动角位移满足奇次多项式约束,由换道时间、位置要求以及车辆在换道开始时刻和结束时刻的期望状态确定两种运动满足的边界条件,利用边界条件确定多项式系数.根据向心运动位移和转动角位移多项式模型,建立换道虚拟轨迹数学模型.与现有弯路换道轨迹规划方法相比,取消道路曲率为常数的假定,得到的换道轨迹模型更具一般性.仿真结果验证了文中提出的变曲率弯路换到轨迹规划方法的可行性.
[Abstract]:In this paper, the virtual track planning method of vehicle change in automatic highway system is studied, and the model of changing track path of curved road with variable curvature based on odd degree polynomial is established.Assuming that the starting lane and the target lane have the same instantaneous center, the motion of the vehicle in the curved section of the road is decomposed into the straight motion towards the instantaneous center of the road and the circumferential rotation of the instantaneous center of the bypass road.Assuming that the centripetal motion displacement and the rotational angular displacement satisfy the odd polynomial constraint, the boundary conditions of the two movements are determined by the changing time, the position requirement and the expected state of the vehicle at the beginning and the end of the change of track.The polynomial coefficients are determined by using boundary conditions.According to the polynomial model of center-moving displacement and rotational angular displacement, the mathematical model of virtual track path is established.Compared with the existing curve path path planning methods, the proposed trajectory model is more general by eliminating the assumption that the road curvature is constant.The simulation results verify the feasibility of changing the curvature curve to the trajectory planning method proposed in this paper.
【作者单位】：哈尔滨工业大学汽车工程学院;
【基金】：山东省自然科学基金(批准号:ZR2010FM008) 哈尔滨工业大学科研创新基金(批准号:HIT.NSRIF.2011117)资助的课题~~
【分类号】：U491.25

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