基于车辆动力传动和转向系统的换道轨迹优化策略

Most of the existing researches on lane-changing trajectory are separated for lane-changing trajectory planning and lane-changing trajectory tracking. This kind of trajectory normally produces some errors in the implementation. To eliminate this type of error and alleviate or solve the traffic problems caused by improper lane-changing behavior, this paper proposes a lane-changing trajectory optimization strategy considering vehicle powertrain and steering system. First, the Next Generation Simulation (NGSIM) data is used to obtain the main driving tasks in the lane-changing process, and the highD data is adopted to verify the tasks. Then, the lane-changing motion characteristics of the vehicle are analyzed based on the two-degree-of-freedom vehicle model. The lane-changing trajectory were realized by the powertrain and the steering system. The results show that the proposed strategy can achieve an economic, comfortable, and efficient lane-changing process on the premise of ensuring driving safety. The proposed strategies that consider economy, comfort and efficiency individually can reduce the fuel consumption per unit distance by 35.71%, the angular speed of front wheel angle by 94.58%, and the time required for lane-changing by 70%, respectively. The result indicates that the proposed lane-changing trajectory optimization strategy can alleviate the traffic problems caused by improper lane-changing driving behavior from a micro perspective and provide theoretical basis and methodological guidance for the design of driving assistance system.