【摘要】 换道是智能车辆在实际交通条件中的一个重要工况。为提高智能车辆在高速公路上的换道安全性，分析了周围交通车辆运动对自车换道距离保持的影响，利用五次多项式函数进行换道轨迹规划，以车辆纵向加速度、与前车碰撞时距和换道后车速为换道优化函数的优化变量，利用车辆动力学模型摩擦圆对横向和纵向加速度进行约束，建立了换道模型。最后用MATLAB/Simulink和CarSim对所得出的换道轨迹进行轨迹跟踪仿真分析，结果表明，该换道轨迹规划方法能够保证智能车换道时的舒适性和安全性。更多还原

【Abstract】 Lane changing is an important working condition for intelligent vehicles in actual traffic conditions.In order to improve the safety of intelligent vehicles on the expressway,the influence on the movement of surrounding traffic vehicles on the maintenance of the lane changing distance of the vehicle was analyzed.The fifth-order polynomial function was used to plan the lane changing trajectory,and the longitudinal acceleration of the vehicle was used to collide with the preceding vehicle.Time span and vehicle velocity after lane change were the optimization variables of lane change optimization function.Using the friction circle of the vehicle dynamics model to constrain the lateral and longitudinal acceleration,a lane changing model was established.Finally,MATLAB/Simulink and CarSim were used to simulate and analyze the obtained lane changing trajectory.The results show that the lane changing trajectory planning method can ensure the comfort and safety of the smart vehicle when changing lanes.更多还原