基于车辆运行轨迹的换道执行模型研究

摘要

In the lane changing model of lane changing execution phase ,the target vehicle not only by the lane in front of the vehicle impact ,but also the influence of the target before and after the vehicle lane .Firstly ,in this paper the traditional car following model is improved ,get the Double‐Head fol‐lowing model .And the study of the target vehicle trajectory ,the target vehicle trajectory is divided into the forward direction and the vertical direction and displacement ,relative speed ,acceleration . Based on the vehicle track different longitudinal velocity analysis found that ,the target vehicle lateral velocity is influenced by the longitudinal velocity and lateral displacement ,with the increase of the lat‐eral displacement of the target vehicle in the driveway ,the vehicle in front attention will be reduced gradually .%在换道模型中，换道执行阶段目标车辆既受到本车道前方车辆影响，又受到目标车道前后车辆的影响。文中对传统的跟驰模型进行改进，得到双车头跟驰模型，并对目标车辆运行轨迹进行研究，将目标车辆轨迹分为前进方向和垂直方向，以及与之相对应的位移、速度、加速度等。通过对不同纵向速度车辆轨迹分析发现，目标车辆横向速度受到纵向速度及横向位移的影响，随着横向位移的增大，目标车辆对本车道前方车辆关注度将逐渐降低，当完全跨越车道线时，目标车辆将不在关注原车道前方车辆，而转变为目标车道跟驰。