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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.
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[16] Ren D B, Zhang J Y, Zhang J M, Cui S M 2011 Sci. China Series E 54 630
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[1] Mohammad A, Alicia D, Max K 2011 Lecture Notes in Comp. Sci. 7 589
[2] Rahman M, Chowdhury M, Xie Y C, He Y M 2013 IEEE Trans. Intell. Trans. Syst. 14 1942
[3] Xu G Q, Liu L, Ou Y S, Song Z J 2012 IEEE Trans. Intell. Trans. Syst. 13 1138
[4] Rajamani R, Tan H S, Law B K, Zhang W B 2000 IEEE Trans. Contr. Syst. Tec. 8 695
[5] Tan H S, Guldner J, Chen C, Patwardhan S 2000 Contr. Eng. Pract. 8 1033
[6] Ho M L, Chan P T, Rad A B 2009 J. Advan. Trans. 43 47
[7] Yang Z G, Qi Z J, Huang Y 2013 J ournal of Chongqing Jiaotong University(Natural Science) 32 520 (in Chinese)[杨志刚, 戚志锦, 黄燕2013 重庆交通大学学报(自然科学版) 32 520]
[8] Chen J J, Zhao P, Mei T, Liang H W 2013 Proceedings of the IEEE International Conference on Vehicular Electronics and Safety Dongguan, China, July 28-30, 2013 p17
[9] Li W, Wang J, Duan J M 2012 Computer Engineering and Applications 48 42 (in Chinese) [李玮, 王晶, 段建民 2012 计算机工程与应用48 42]
[10] He Z C, Sun W B, Zhang L C, Xu F F, Zhuang L J 2013 Acta Phys. Sin. 62 168901 (in Chinese) [何兆成, 孙文博, 张力成, 许菲菲, 庄立坚2013 物理学报62 168901]
[11] Yang X B 2009 Acta Phys. Sin. 58 836 (in Chinese) [杨小宝2009 物理学报58 836]
[12] Kang R, Yang K 2013 Acta Phys. Sin. 62 238901 (in Chinese) [康瑞, 杨凯2013 物理学报62 238901]
[13] Zhao H T, Mao H Y 2013 Acta Phys. Sin. 62 060501 (in Chinese) [赵韩涛, 毛宏燕2013 物理学报62 060501]
[14] Zheng L, Ma S F, Zhong S Q 2011 Chin. Phys. B 20 088701
[15] Hatipoglu C, Ozguner U, Redmill K 2003 IEEE Trans. Intell. Trans. Syst. 4 13
[16] Ren D B, Zhang J Y, Zhang J M, Cui S M 2011 Sci. China Series E 54 630
[17] Guo L, Huang X H, Ge P S 2013 Journal of Jilin University (Engineering and Technology Edition) 43 323 (in Chinese)[郭烈, 黄晓慧, 葛平淑2013 吉林大学学报(工学版) 43 323]
[18] Rajamani R 2006 Vehicle Dynamics and Control(New York: Springer) p43-46
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