考虑驾驶人风格的换道轨迹规划与控制
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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。
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.
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.
引文
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[20] 付锐,马勇,郭应时,等.基于实车试验数据的换道预警规则[J].吉林大学学报:工学版,2015,45(2):379-388.FU Rui,MA Yong,GUO Ying-shi,et al.Lane Change Warning Rules Based on Real Vehicle Test Data [J].Journal of Jilin University:Engineering and Technology Edition,2015,45 (2):379-388.
[21] TAUBMAN-BEN-ARI O,MIKULINCER M,GILLATH O.The Multidimensional Driving Style Inventory-Scale Construct & Validation [J].Accident Analysis & Prevention,2004,36 (3):323-332.
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[26] 许伦辉,胡三根,罗强,等.基于驾驶人类型的车辆换道模型[J].华南理工大学学报:自然科学版,2014,42(8):104-111.XU Lun-hui,HU San-gen,LUO Qiang,et al.Lane-Changing Model Based on Different Types of Drivers [J].Journal of South China University of Technology:Natural Science Edition,2014,42 (8):104-111.
[27] 王崇伦,李振龙,陈阳舟,等.考虑换道约束空间的车辆换道模型研究[J].公路交通科技,2012,29(1):121-127.WANG Chong-lun,LI Zheng-long,CHEN Yang-zhou,et al.Reasearch on Lane-changing Models Considering Restricted Space [J].Journal of Highway and Transportation Research and Development,2012,29 (1):121-127.
[28] 黄慧琼,覃运梅.考虑驾驶人性格特性的超车模型研究[J].广西师范大学学报:自然科学版,2015,33(1):20-26.HUANG Hui-qiong,QIN Yun-mei.Overtaking Model Based on Drivers’ Characteristics [J].Journal of Guangxi Normal University:Natural Science Edition,2015,33 (1):20-26.
[29] 李玮,高德芝,段建民.智能车辆自由换道模型研究[J].公路交通科技,2010,27(2):119-123.LI Wei,GAO De-zhi,DUAN Jian-min.Research on Lane Change Model for Intelligent Vehicles [J].Journal of Highway and Transportation Research and Development,2010,27 (2):119-123.
[30] 郭应时,蒋拯民,白艳,等.无人驾驶汽车路径跟踪控制方法拟人程度研究[J].中国公路学报,2018,31(8):189-196.GUO Ying-shi,JIANG Zheng-min,BAI Yan,et al.Investigation of Humanoid Level of Path Tracking Methods Based on Autonomous Vehicles [J].China Journal of Highway and Transport,2018,31 (8):189-196.
[31] 奉山森.无人驾驶汽车路径跟踪控制研究[D].长沙:湖南大学,2018.FENG Shan-sen.Path Tracking Control Research for Autonomous Vehicle [D].Changsha:Hunan University,2018.
[32] 姜岩,龚建伟.无人驾驶车辆模型预测控制[M].北京:北京理工大学出版社,2014.JIANG Yan,GONG Jian-wei.Predictive Control for Self-driving Vehicle Model [M].Beijing:Beijing Institute of Technology Press,2014.
[2] YANG D,ZHENG S Y,WEN C,et al.A Dynamic Lane-changing Trajectory Planning Model for Automated Vehicles [J].Transportation Research Part C,2018,95:228-247.
[3] 张荣辉,游峰,初鑫男,等.车-车协同下无人驾驶车辆的换道汇入控制方法[J].中国公路学报,2018,31(4):180-191.ZHANG Rong-hui,YOU Feng,CHU Xin-nan,et al.Lane Change Merging Control Method for Unmanned Vehicle Under V2V Cooperative Environment [J].China Journal of Highway and Transport,2018,31 (4):180-191.
[4] 冀杰,唐志荣,吴明阳,等.面向车道变换的路径规划及模型预测轨迹跟踪[J].中国公路学报,2018,31(4):172-179.JI Jie,TANG Zhi-rong,WU Ming-yang,et al.Path Planning and Tracking for Lane Changing Based on Model Predictive Control [J].China Journal of Highway and Transport,2018,31 (4):172-179.
[5] 安林芳,陈涛,成艾国,等.基于人工势场算法的智能车辆路径规划仿真[J].汽车工程,2017,39(12):1451-1456.AN Lin-fang,CHEN Tao,CHENG Ai-guo,et al.A Simulation on the Path Planning of Intelligent Vehicles Based on Artificial Potential Field Algorithm [J].Automotive Engineering,2017,39 (12):1451-1456.
[6] 张凤娇,魏民祥,黄丽琼,等.基于模型预测控制的汽车紧急换道控制研究[J].现代制造工程,2017(3):57-64.ZHANG Feng-jiao,WEI Min-xiang,HUANG Li-qiong,et al.Study of Vehicle Emergent Lane-change Control Based on Model Predictive Control [J].Modern Manufacturing Engineering,2017 (3):57-64.
[7] JI J,KHAJEPOUR A,MELEK W W,et al.Path Planning and Tracking for Vehicle Collision Avoidance Based on Model Predictive Control With Multiconstraints [J].IEEE Transactions on Vehicular Technology,2017,66 (2):952-964.
[8] HUANG C,NAGHDY F,DU H.Model Predictive Control-based Lane Change Control System for an Autonomous Vehicle [C] // IEEE.Proceedings of 2016 IEEE Region 10 Conference (TENCON).New York:IEEE,2016:3349-3354.
[9] CAO H T,SONG X L,HUANG Z Y,et al.Simulation Research on Emergency Path Planning of an Active Collision Avoidance System Combined with Longitudinal Control for an Autonomous Vehicle [J].Journal of Automobile Engineering,2015 (4):1-30.
[10] 杜峰,闫光辉,魏朗,等.主动四轮转向汽车最优控制及闭环操纵性仿真[J].汽车工程,2014,36(7):848-852.DU Feng,YAN Guang-hui,WEI Lang,et al.Optimal Control and Close-loop Controllability Simulation for Active Four-wheel Steering Vehicle [J].Automotive Engineering,2014,36 (7):848-852.
[11] SOUDBAKHSH D,ESKANDARIAN A.A Collision Avoidance Steering Controller Using Linear Quadratic Regulator [J].SAE Paper 2010-01-0459.
[12] HU C,WANG R R,YAN F J,et al.Should the Desired Heading in Path Following of Autonomous Vehicle Be the Tangent Direction of the Desired Path?[J].IEEE Transactions on Intelligent Transportation System,2015,16 (6):3084-3094.
[13] 倪兰青,林棻,王凯正.基于预瞄的智能车路径跟踪控制研究[J].重庆理工大学学报:自然科学版,2017,31(3):27-33.NI Lan-qing,LIN Fen,WANG Kai-zheng.Research on Path-following Control of Intelligent Vehicles Based on Preview Model [J].Journal of Chongqing University of Technology:Natural Science,2017,31 (3):27-33.
[14] 董铸荣,张欣,胡松华,等.基于LQR变传动比控制的4WIS电动车转向控制研究[J].汽车工程,2017,39(1):79-85.DONG Zhu-rong,ZHANG Xin,HU Song-hua,et al.A Simulation Study on the Steering Control of 4WIS EV Based on LQR Variable Transmission Ratio Control [J].Automotive Engineering,2017,39 (1):79-85.
[15] 林棻,倪兰青,赵又群,等.考虑横向稳定性的智能车辆路径跟踪控制[J].华南理工大学学报:自然科学版,2018,46(1):78-84.LIN Fen,NI Lang-qing,Zhao You-qun,et al.Path Following Control of Intelligent Vehicles Considering Lateral Stability [J].Journal of South China University of Technology:Natural Science Edition,2018,46 (1):78-84.
[16] 张文明,韩泓冰,杨珏,等.基于驾驶人行为的神经网络无人驾驶控制[J].华南理工大学学报:自然科学版,2016,44(12):74-80.ZHANG Wen-ming,HAN Hong-bing,YANG Jue,et al.A Neural Network-Based Autonomous Articulated Vehicle System Considering Driver Behavior [J].Journal of South China University of Technology:Natural Science Edition,2016,44 (12):74-80.
[17] 王畅,付锐,彭金栓,等.应用于换道预警的驾驶风格分类方法[J].交通运输系统工程与信息,2014,14(3):187-193,200.WANG Chang,FU Rui,PENG Jin-shuan,et al.Driving Style Classification Method for Lane Change Warning System [J].Journal of Transportation Systems Engineering and Information Technology,2014,14 (3):187-193,200.
[18] 马勇,付锐,郭应时,等.基于实车试验的驾驶人换道行为多参数预测[J].长安大学学报:自然科学版,2014,34(5):101-108.MA Yong,FU Rui,GUO Ying-shi,et al.Multi-parameter Prediction of Driver’s Lane Change Behavior Based on Real-world Driving Tests [J].Journal of Chang’an University:Natural Science Edition,2014,34 (5):101-108.
[19] 彭金栓,付锐,郭应时,等.自然驾驶条件下驾驶人换道行为实时预测[J].哈尔滨工业大学学报,2015,47(9):119-123.PENG Jin-shuan,FU Rui,GUO Yin-shi,et al.Real-time Prediction of Lane-changing Behaviors Under Naturalistic Driving Conditions [J].Journal of Harbin Institute of Technology,2015,47 (9):119-123.
[20] 付锐,马勇,郭应时,等.基于实车试验数据的换道预警规则[J].吉林大学学报:工学版,2015,45(2):379-388.FU Rui,MA Yong,GUO Ying-shi,et al.Lane Change Warning Rules Based on Real Vehicle Test Data [J].Journal of Jilin University:Engineering and Technology Edition,2015,45 (2):379-388.
[21] TAUBMAN-BEN-ARI O,MIKULINCER M,GILLATH O.The Multidimensional Driving Style Inventory-Scale Construct & Validation [J].Accident Analysis & Prevention,2004,36 (3):323-332.
[22] MARTINUSSEN L M,HAKAMIES-BLOMQVIST L,MΦLLER M,et al.Age,Gender,Mileage and the DBQ:The Validity of the Driver Behavior Questionnaire in Different Driver Groups [J].Accident Analysis & Prevention,2013,52 (4):228-236.
[23] WANG X Y,WANG J Q,ZHANG J L,et al.Lane-Changing Model with Dynamic Consideration of Driver’s Propensity [J].International Journal of Model Physics C,2015,26 (2):141-159.
[24] 卢文岱.SPSS for Windows统计分析[M].3版.北京:电子工业出版社,2006.LU Wen-dai.SPSS for Windows Statistical Analysis [M].3rd ed.Beijing:Publishing House of Electronics Industry,2006.
[25] 胡三根.面向驾驶辅助系统的车辆行驶安全预警模型研究[D].广州:华南理工大学,2016.HU San-gen.Research on Vehicle Driving Safety Warning Model for Driver Assistant System [D].Guangzhou:South China University of Technology,2016.
[26] 许伦辉,胡三根,罗强,等.基于驾驶人类型的车辆换道模型[J].华南理工大学学报:自然科学版,2014,42(8):104-111.XU Lun-hui,HU San-gen,LUO Qiang,et al.Lane-Changing Model Based on Different Types of Drivers [J].Journal of South China University of Technology:Natural Science Edition,2014,42 (8):104-111.
[27] 王崇伦,李振龙,陈阳舟,等.考虑换道约束空间的车辆换道模型研究[J].公路交通科技,2012,29(1):121-127.WANG Chong-lun,LI Zheng-long,CHEN Yang-zhou,et al.Reasearch on Lane-changing Models Considering Restricted Space [J].Journal of Highway and Transportation Research and Development,2012,29 (1):121-127.
[28] 黄慧琼,覃运梅.考虑驾驶人性格特性的超车模型研究[J].广西师范大学学报:自然科学版,2015,33(1):20-26.HUANG Hui-qiong,QIN Yun-mei.Overtaking Model Based on Drivers’ Characteristics [J].Journal of Guangxi Normal University:Natural Science Edition,2015,33 (1):20-26.
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