| 考虑驾驶人风格的换道轨迹规划与控制（双语出版） |
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| 引用本文： | 黄晶,蓟仲勋,彭晓燕,胡林.考虑驾驶人风格的换道轨迹规划与控制（双语出版）[J].中国公路学报,2019,32(6):226. |
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| 作者姓名： | 黄晶 蓟仲勋 彭晓燕 胡林 |
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| 作者单位： | 1. 湖南大学 汽车车身先进设计制造国家重点实验室, 湖南 长沙 410082;2. 长沙理工大学 工程车辆安全性设计与可靠性技术湖南省重点实验室, 湖南 长沙 410114 |
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| 基金项目： | 国家自然科学基金项目（51775178，51875049）；湖南省自然科学杰出青年基金项目（2019JJ20017） |
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| 摘 要： | 基于自动换道控制技术中融合个性化驾驶人风格的研究，建立考虑驾驶人风格的车辆换道轨迹规划及控制模型以提高换道规划控制模型对不同风格驾驶人的适用性，在保证安全性的基础上进一步满足驾驶人的个性化需求。首先通过问卷调查的方式采集得到了212份驾驶人风格量表数据，采用主成分分析法和K均值（K-means）聚类分析法将驾驶人按驾驶风格分为激进型、普通型和谨慎型，并通过驾驶模拟器试验采集不同风格驾驶人分别在自车道前车、目标车道前车和目标车道后车影响下的换道行为数据。然后对椭圆车辆模型进行改进，以描述不同风格驾驶人的行车安全区域，并据此构建3种典型工况下不同风格驾驶人的换道最小安全距离模型，结合驾驶舒适性约束、车辆几何位置约束以及不同风格驾驶人的换道行为数据，以换道纵向位移最短为目标，实现适应驾驶人风格的换道轨迹规划。最后以基于预瞄的路径跟踪模型作为前馈量，设计基于动力学的线性二次型最优（LQR）反馈控制器，通过调节控制权重矩阵实现3种工况下不同驾驶人风格的换道轨迹跟踪。PreScan和MATLAB/Simulink联合仿真结果表明：所设计的考虑驾驶人风格的换道轨迹规划及跟踪控制模型能够实现不同驾驶风格的自动换道轨迹规划及跟踪控制，可满足驾驶人个性化换道需求。
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| 关 键 词： | 汽车工程 换道控制模型 驾驶模拟器试验 换道风格 线性二次型最优控制 换道轨迹规划 |
| 收稿时间： | 2019-01-10 |
Driving Style Adaptive Lane-changing Trajectory Planning and Control（in English） |
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| HUANG Jing,JI Zhong-xun,PENG Xiao-yan,HU Lin.Driving Style Adaptive Lane-changing Trajectory Planning and Control（in English）[J].China Journal of Highway and Transport,2019,32(6):226. |
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| Authors: | HUANG Jing JI Zhong-xun PENG Xiao-yan HU Lin |
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| Affiliation: | 1. State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, Hunan, China;2. Hunan Province Key Laboratory of Safety Design and Reliability Technology for Engineering Vehicle, Changsha University of Science & Technology, Changsha 410114, Hunan, China |
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| Abstract: | 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. |
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| Keywords: | automotive engineering lane-changing control model driving simulator experiment driving style linear quadratic optimal control lane-changing trajectory planning |
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