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针对换道轨迹计算难度大且不能直接获取等问题,文中提出利用Carsim进行换道仿真来获取换道轨迹,运用小波分解对实际驾驶员的转向盘转角以及车速进行滤波,滤波后参数作为仿真实际输入,最后,在Carsim中对换道轨迹进行仿真,仿真结果跟实际结果相一致。
In order to solve the problem that lane traversal calculation is difficult and can not be directly obtained, this paper proposes the lane change simulation using Carsim to obtain the lane tracing trajectory. The wavelet decomposition is used to filter the actual driver’s steering wheel angle and vehicle speed. The filtered parameters are used to simulate the actual Enter, and finally, simulate the lane change in Carsim, the simulation results are consistent with the actual results.