面向高速公路行车安全预警的车道偏离及换道模型研究

发布时间：2018-07-14 22:04

【摘要】：随着经济的快速发展，汽车保有量的迅猛增长，城市交通问题不断加剧，主要表现为道路交通事故数量增加、交通拥堵以及相关的环境污染严重等。尤其是随着高速公路建设水平的不断提高，汽车行驶速度的不断提高，交通事故数和伤亡人数逐年增长，交通安全越来越受到广泛关注，已经成为了全世界所面临的重大问题。因此，展开对辅助驾驶员安全行驶的相关技术的研究，对于改善道路交通安全状况具有十分重要的理论意义和实际应用价值。本文在对车辆安全辅助驾驶技术的发展及研究现状回顾与分析的基础上，选取对高速公路上车辆横向驾驶行为的安全性进行研究，主要研究内容包括车辆车道偏离预警系统和车辆安全换道模型两大部分，对其中关键理论与技术进行了相关的研究与探讨，完成的主要科研工作与取得的研究成果概括如下： 1、建立了车辆车道偏离时间TLC的估算模型。以车辆行驶过程中方向盘转角是否零，将车辆的行驶轨迹划分成直线和曲线轨迹两种情况；同时，结合车辆运动学理论、几何知识和三角函数知识，对车辆分别行驶在直线和曲线路段上的实际轨迹进行了研究，得到了车道偏离时间TLC的计算方法，由此建立了车辆向左和向右两种偏离情况下偏离时间TLC的估算模型。分别就车辆横向距离、相对偏航角和曲线道路半径等参数对偏离时间TLC的影响进行了数值仿真分析，得到了相应的仿真结果；利用自主开发的车辆换道模拟系统进行仿真实验，，得到了不同计算方法的TLC预测值及与真实TLC值的差值。数值仿真结果对于驾驶员的安全驾驶和道路线形的设计有一定的指导作用；实验结果表明本文建立的模型计算得到的TLC值比其他相似方法所得值更接近真实值，误差更小。 2、提出了一种对驾驶员的横向驾驶行为进行分类的模糊决策系统。通过对驾驶员的历史驾驶数据的分析，结合车辆车道偏离的运动特性，文中选用横向速度和横向位置作为评价驾驶员横向驾驶风格的主要因素，分别求取它们的标准方差，并作为决策系统的输入变量。然后利用基于Mamdami inference推理的模糊决策方法对驾驶员驾驶风格类型进行了分类，从而为建立具有自适应特性的车道偏离预警系统打下基础。 3、建立了基于驾驶员驾驶风格类型和实时驾驶情况的可变虚拟车道边界偏离预警模型。结合驾驶员驾驶风格的类型、驾驶过程中实时横向位移、横向速度三个参数，文中利用Mamdami inference推理的模糊决策方法给出可变虚拟车道边界的调整方案，能够适应不同的驾驶员类型和实时变化的驾驶情况。然后，综合分析车道偏离预警系统的特性和现有研究中采用的预警性能指标，本文选用了虚警率和预警时间作为可变虚拟车道边界偏离预警模型的评价指标。最后，由于实验设备和条件有限，本文设置了虚拟实验仿真，详细介绍了实验方法、评价方法以及跟其他方法的结果对比的表现形式。 4、建立了基于最小安全距离的车辆换道模型。首先，从车辆换道行为特性和运动学特性的角度出发，详细描述车辆换道过程，给出了换道的三阶段和碰撞情况的分类，同时定义了车辆换道环境、运动学参数和时间参数等。然后，从车辆换道的运动学角度出发，分析了换道车辆M与其周围相邻车辆（车辆Mol、Mdl、Mdf）在换道过程中的运动位置关系，以换道过程中避免碰撞为目标，建立了换道车辆M与相关联车辆之间的最小初始安全换道距离模型。 5、对换道车辆M以匀速和加速两种换道策略进行了仿真分析。以建立的最小安全距离换道模型为基础，分别对换道车辆M设置了两种不同的换道策略，分别为：一是车辆M以匀速状态进行换道；二是车辆M以加速状态进行换道。利用Matlab仿真软件对两种不同换道的情况进行了仿真分析，给出了车辆M与周围相邻车辆间的安全换道区域和非安全换道区域。对仿真结果进行了分析，得到了影响车辆安全换道的相关因素，同时，通过对比分析车辆M在匀速换道和加速换道情况下的安全区域范围可知，车辆M采取加速度换道策略，可以拓宽安全区域范围，换道安全更可靠和安全。
[Abstract]:With the rapid development of the economy and the rapid growth of the car ownership, the urban traffic problems are increasing, mainly as the increase in the number of road traffic accidents, traffic congestion and the serious environmental pollution, especially with the continuous improvement of the highway construction level, the continuous improvement of the speed of the car and the number of traffic accidents and casualties. As the number of people is increasing year by year, traffic safety has been paid more and more attention, and it has become a major problem in the world. Therefore, it is of great theoretical and practical value to improve the safety of road traffic.
On the basis of the review and analysis of the development and research status of vehicle safety assisted driving technology, this paper studies the safety of the lateral driving behavior of vehicles on the highway. The main research contents include two parts of the vehicle lane departure warning system and the vehicle safety change model, which are the key theories and technologies. The main research work and achievements obtained are summarized as follows:
1, the estimation model of vehicle lane departure time TLC is established. In the course of the vehicle, whether the steering angle of the steering wheel is zero is zero and the vehicle trajectory is divided into two cases of straight line and curve trajectory. At the same time, combined with the theory of vehicle kinematics, geometry knowledge and trigonometric function knowledge, the vehicle is running on the straight line and the curve section respectively. The trajectory is studied and the calculation method of lane departure time TLC is obtained. Therefore, the estimation model of departure time TLC is established under two deviations of left and right vehicles. The effects of vehicle lateral distance, relative yaw angle and curve road radius on the deviation time TLC are numerically simulated and analyzed, and the corresponding results are obtained. The simulation results of the simulation are carried out by the self developed vehicle switching simulation system. The TLC prediction value of different calculation methods and the difference with the real TLC value are obtained. The numerical simulation results have certain guiding role for the driver's safe driving and road alignment design; the experimental results show that the model established in this paper is calculated. The TLC value is closer to the real value than other similar methods, and the error is smaller.
2, a fuzzy decision system is put forward to classify the driver's lateral driving behavior. Through the analysis of the driver's historical driving data and the motion characteristics of the vehicle lane deviation, the lateral velocity and lateral position are selected as the main factors to evaluate the driver's lateral driving wind. It is the input variable of the decision system. Then, the type of driver's driving style is classified by using the fuzzy decision method based on Mamdami inference reasoning, which lays the foundation for the establishment of lane departure warning system with adaptive characteristics.
3, a variable virtual lane boundary departure warning model based on driver style type and real time driving condition is established. Combining the type of driver's driving style, real-time lateral displacement and lateral velocity of three parameters during driving, the fuzzy decision method of Mamdami inference reasoning is used to give the adjustment of the variable virtual lane boundary. The whole scheme can adapt to different driver types and real-time changing driving conditions. Then, the characteristics of the lane departure warning system and the early warning performance indicators used in the existing research are synthetically analyzed. The false alarm rate and early warning time are selected as the evaluation indexes of the early warning model of the variable virtual lane boundary deviation. Finally, the experiment is made. The equipment and conditions are limited. In this paper, a virtual experiment simulation is set up, and the experimental method, evaluation method and the form of comparison with other methods are introduced in detail.
4, a vehicle switching model based on the minimum safe distance is established. First, the vehicle change process is described in detail from the point of view of the behavior and kinematics of the vehicle. The three stages of the change and the classification of the collision are given, and the vehicle changing environment, the kinematic parameters and the time parameters are defined. On the basis of the kinematic point of view, the kinematic position relationship between the M and its adjacent vehicles (Mol, Mdl, Mdf) in the changing course is analyzed. The minimum initial safety change distance model between the lane changing vehicle M and the associated vehicle is established by avoiding the collision in the course of changing the path.
5, the simulation analysis is carried out on the two lane changing strategy of the change vehicle M. Based on the minimum safe distance change model, two different switching strategies are set up for the change vehicle M respectively. The first is that the vehicle M is changing the path in a uniform state, and the two is the vehicle M changing the channel in an accelerated state. The Matlab imitation is used. The real software has simulated and analyzed the two different ways of changing the channel. The safety change area and the unsafe lane change area between the vehicle M and the adjacent vehicles are given. The simulation results are analyzed, and the related factors affecting the vehicle safety change are obtained. At the same time, the vehicle M is compared and analyzed in the condition of uniform speed change and acceleration change. The safe area range shows that vehicle M adopts acceleration lane changing strategy, which can widen the safety area and change the road safety more reliably and safely.
【学位授予单位】：华南理工大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：U492.84;U491.25

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