【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。更多还原

【Abstract】 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.更多还原