摘要
轨迹/速度是汽车驾驶行为的重要环节,但现有模型的研究对象几乎都是针对城市道路和一般公路,无法适用于具有特殊性的赛道驾驶行为模拟。为此,本文根据真实世界的汽车驾驶过程和特点,提出了"前视断面选点"的轨迹计算策略,然后在其基础上构建了能够描述赛车手轨迹—速度选择模式的目标函数,根据赛道行驶环境和赛车性能设计了约束条件表达式,并给出了"期望轨迹—期望速度"联合求解的滚动时域算法,最后,以一条公路赛道为仿真实例对提出的模型进行检验,结果表明本文的决策模型能够得到满足预期的计算结果,并与真实赛道上的赛车轨迹和速度具有较高的符合度。
The selection of target trajectory and speed is a crucial factor in automobile driving behavior.However,almost all the research objects of existing driver models are developed for driving on city streets and general highways but not applicable to driving simulation on circuits,in particular.Therefore,according to practical automobile driving processes and characteristics in the real world,this paper proposed a trajectory calculation strategy,which we named as "selecting trajectory point on a preview cross section." According to this strategy,an objective function was established to describe the different selection patterns of "trajectory and speed" of a race driver.Constraint expressions were then designed on the basis of the circuit-driving environment and race-car performance.A rolling-horizon algorithm for simultaneous solving,i.e.," target trajectory–target speed," was proposed.Eventually,validation of the proposed model was conducted using a road track as a simulation example,and the results indicated that the anticipated computational results could be obtained using the proposed decision-making model and algorithm.The result also showed a fairly good agreement with the trajectory and speed of a race car on a practical circuit.
引文
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