摘要
车道变换行为在实施过程中会产生交通冲突,降低道路系统的运行效率,严重时会引发交通事故。文中根据曲率的变化将车道变换过程划分为4个阶段,同时引入β样条曲线,在给定边界条件的基础上,确定β样条曲线的反求算法。在车辆转角、转角变化率及车辆的驾驶行为等约束条件下,确立车道变换运行速度与车道变换长度的关系,进而计算轨迹参数。以Matlab仿真计算轨迹曲线,并与实测数据对比,分析结果验证了模型的有效性。
Lane-changing behavior induces traffic conflicts, reduces the efficiency of the traffic, and in some serious conditions, even results in traffic accidents. In this paper, lane-changing virtual desired trajectory was divided into four phases according to the changes of curvature. Meanwhile, β-spline curve was introduced. The reverse algorithm was presented based on boundary condition. Under the restriction of vehicles angle, steering velocity, and driving behavior, the relationship between the velocity and length of lane-changing was established. Furthermore, the trajectory parameters were calculated, and the virtual desired trajectory curves were calculated via Matlab simulation. Compared with the data surveyed, the result proved the feasibility of the model.
出处
《交通与计算机》
2008年第4期68-71,共4页
Computer and Communications
基金
国家自然科学基金项目(批准号:50578056)资助
关键词
车道变换
期望运行轨迹
β样条曲线
反求算法
曲率
lane-changing
virtual desired trajectory
β-spline curves
reverse algorithm
curvature
