适于复杂赛道的驾驶员“期望轨迹-期望速度”协同决策模型

发布时间：2019-04-11 09:05

【摘要】：期望轨迹/速度决策是汽车驾驶行为的重要环节,但现有模型的研究对象几乎都是针对城市道路和一般公路,无法用于具有特殊性的赛道驾驶行为模拟.为此,本文根据真实世界的汽车驾驶过程和特点,提出了"前视断面选点"的轨迹计算策略,然后在其基础上构建了能够描述赛车手轨迹-速度选择行为的目标函数,根据赛道行驶环境和赛车性能设计了约束条件,并给出了"期望轨迹-期望速度"联合求解的滚动时域算法,最后,用襄阳东风汽车试验场内一条中速环道的汽车轨迹/速度实测数据和一条F1场地赛道的仿真试验值对提出的模型进行检验,结果表明本文的协同决策模型能够得到满足预期的结果并具有较好的准确度,因此能够有效模拟赛车手在赛道上的轨迹-速度选择行为.
[Abstract]:The expected trajectory / speed decision is an important part of automobile driving behavior, but almost all of the existing models are aimed at urban roads and common roads, and can not be used to simulate the driving behavior of special track. Therefore, according to the real-world driving process and characteristics, this paper puts forward the trajectory calculation strategy of "forward-looking cross-section selection point", and then constructs the objective function which can describe the track-speed selection behavior of racers. According to the driving environment and racing performance of the track, the constraint conditions are designed, and a rolling time domain algorithm for the joint solution of "expected track and desired speed" is given. Finally, a rolling time domain algorithm is presented. The proposed model is tested by using the measured data of the vehicle track / velocity of a medium speed loop in the Xiangyang Dongfeng Automobile Test ground and the simulation test values of a F1 site track. The results show that the cooperative decision-making model can meet the expected results and has good accuracy, so it can effectively simulate the track-speed selection behavior of racers on the track.
【作者单位】：重庆交通大学山地城市交通系统与安全重庆市重点实验室;西南交通大学交通运输与物流学院;
【基金】：国家自然科学基金(批准号:51278514) 高等学校博士学科点专项科研基金(批准号:20135522110003)项目资助
【分类号】：U491.25;G872.1

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