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根据大量的路上行驶试验和断面速度观测数据,分析了道路几何线形与驾驶人速度选择行为之间的关系,建立了能够描述弯道行驶、驶进与驶离弯道、直线行驶时的速度选择模型和加、减速度模型,从而生成沿道路里程变化的期望速度曲线。用机械动力学分析软件ADAMS建立汽车的动力学模型,用VB6.0编制道路模块,用VC++7.0编制驾驶人模型,仿真开始阶段生成期望轨迹和期望速度,然后采用前视预瞄的策略进行跟随,实现了车辆的自主驾驶。模拟结果表明:汽车期望速度和行驶路线与汽车实际行驶速度和行驶路线变化趋势相同,以期望速度作为汽车跟随的目标速度,符合汽车的动力学特性要求,能够引领汽车在复杂山区道路上的安全行驶。
Based on a large number of on-the-road driving tests and cross-section velocity observations, the relationship between the road geometry and the driver’s speed selection behavior is analyzed, and a method is proposed to describe the speed selection when driving in curves, entering and leaving curves, Model and acceleration and deceleration models to generate the desired speed profile along the road mileage. The dynamic model of automobile is established by mechanical dynamic analysis software ADAMS, the road module is compiled by VB6.0, the driver model is compiled by VC ++ 7.0, the desired trajectory and expected speed are generated in the initial stage of simulation, and then the strategy of forward preview Follow, to achieve the autonomous driving of vehicles. The simulation results show that the expected speed and traveling route of car are the same as the actual driving speed and traveling route of car, and the expected speed is the target speed followed by car, which meets the requirements of automobile dynamic characteristics and can lead the car on the road in complicated mountainous area Driving.