Driving Style Adaptive Lane-changing Trajectory Planning and Control

被引：0
|
作者：
Huang J. [1 ]
Ji Z.-X. [1 ]
Peng X.-Y. [1 ]
Hu L. [2 ]
机构：
[1] State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, 410082, Hunan
[2] Hunan Province Key Laboratory of Safety Design and Reliability Technology for Engineering Vehicle, Changsha University of Science & Technology, Changsha, 410114, Hunan
来源：
Zhongguo Gonglu Xuebao/China Journal of Highway and Transport | 2019年 / 32卷 / 06期
关键词：
Automotive engineering; Driving simulator experiment; Driving style; Lane-changing control model; Lane-changing trajectory planning; Linear quadratic optimal control;
D O I：
10.19721/j.cnki.1001-7372.2019.06.023
中图分类号：
学科分类号：
摘要：
This paper describes the research carried out on the integration of personalized driving style in automatic lane-changing control technology. A driving style adaptive vehicle lane-changing trajectory planning and control model was established to improve the applicability of the lane-changing control model to drivers of different styles, and to ensure the individual vehicle safety needs of drivers. First, questionnaires were prepared and data were collected on driver's style scales from 212 individuals. Principal component analysis and K-means cluster analysis were used to classify the drivers into three driving styles- the cautious style, ordinary style, and aggressive style. The lane-changing behavior data of different styles of drivers in conditions of self-lane front vehicle, target-lane front vehicle, and rear vehicle were collected by driving simulator experiments. The ellipse vehicle model was improved to accommodate the safe driving area of drivers with different styles, and the minimum safe distance model of lane change with different driving styles under three working conditions was constructed. The results of lane-changing trajectory planning were combined with driving comfort constraints, vehicle geometric position constraints, and lane-changing behavior data for different styles of drivers. Finally, a linear quadratic regulator (LQR) feedback controller with preview-based path tracking model as feed-forward was designed based on dynamics. By adjusting the control weight matrix, lane-changing trajectory tracking of different driving styles under the three conditions was realized. The joint simulation results of PreScan and MATLAB/Simulink indicated that the driving style adaptive lane-changing trajectory tracking and control model proposed in this paper could realize the automatic lane-changing trajectory planning and tracking control for different driving styles, and meet the driver's personalized lane-changing needs. © 2019, Editorial Department of China Journal of Highway and Transport. All right reserved.
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页码：226 / 239and247
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