[1]龙雪琴,毛健旭,王远泽,等.基于多元效益的异质驾驶人换道轨迹规划[J].长安大学学报(自然科学版),2025,45(4):153-165.[doi:10.19721/j.cnki.1671-8879.2025.04.013]
　LONG Xue-qin,MAO Jian-xu,WANG Yuan-ze,et al.Lane-changing trajectory planning for heterogeneous drivers based on multivariate benefits[J].Journal of Chang’an University (Natural Science Edition),2025,45(4):153-165.[doi:10.19721/j.cnki.1671-8879.2025.04.013]
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基于多元效益的异质驾驶人换道轨迹规划()
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长安大学学报（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
第45卷
期数:
2025年4期
页码:
153-165
栏目:
交通工程
出版日期:
2025-07-30

文章信息/Info

Title:
Lane-changing trajectory planning for heterogeneous drivers based on multivariate benefits
文章编号:
1671-8879(2025)04-0153-13
作者:
龙雪琴; 毛健旭; 王远泽; 翟曼溶
(长安大学 运输工程学院,陕西 西安 710064)
Author(s):
LONG Xue-qin;  MAO Jian-xu;  WANG Yuan-ze;  ZHAI Man-rong
(College of Transportation Engineering, Chang'an University, Xi'an 710064, Shaanxi, China)
关键词:
交通工程;  换道轨迹动态规划;  五次多项式;  驾驶行为;  驾驶风格
Keywords:
traffic engineering;  dynamic planning of lane-changing trajectory;  quintic polynomial;  driving behavior;  driving style
分类号:
U491
DOI:
10.19721/j.cnki.1671-8879.2025.04.013
文献标志码:
A
摘要:
针对驾驶人风格实时变化和换道需求多样的特点,提出一种考虑驾驶人短时驾驶风格的换道轨迹动态规划方法。首先,基于极端梯度提升树算法获取影响换道行为的关键特征变量,采用聚类算法将驾驶人分为保守型、一般型、激进型。然后,提出安全性和舒适性指标,构建3种风格驾驶人轨迹规划的效益函数。其次,采用五次多项式方法,建立纵向和横向轨迹规划模型,并实时判断周围车辆的运动状态对轨迹进行调整。最后,对规划轨迹与真实轨迹的偏差、不同风格驾驶人规划轨迹进行对比。研究结果表明:与实际轨迹相比,大多数驾驶人规划轨迹纵向的偏差小于5 m,横向偏差大多集中在0.77～0.90 m; 规划轨迹的最小车头间距平均值由34.39 m增加到了47.53 m,加速度最大差值平均值由0.45 m/s2降低到0.17 m/s2,体现了规划轨迹的安全性和舒适性; 各类驾驶人规划轨迹之间具有明显差异,验证了所划分的驾驶风格的正确性; 研究考虑了驾驶风格的短时多变性以及不同风格驾驶人对安全性和舒适性的需求差异性,能针对不同驾驶风格计算最优轨迹,可为提升换道舒适性和安全性提供理论支撑。
Abstract:
According to the characteristics of driver style's real-time changes and diverse lane-changing requirements, a dynamic lane-changing trajectory planning method considering drivers' short-term driving styles was proposed. First, the key feature variables affecting the lane-changing behavior were obtained based on the eXtreme Gradient Boosting algorithm, and drivers were classified into conservative, ordinary, and aggressive types using a clustering algorithm. Then, safety and comfort indicators were proposed, and benefit functions of trajectory planning for the three styles of drivers were constructed. Next, the quintic polynomial method was adopted to establish longitudinal and lateral trajectory planning models separately, and the trajectory was adjusted in real time based on the motion states of surrounding vehicles. Finally, the deviations between the planned trajectory and the actual trajectory, and the planned trajectories for different styles of drivers were compared. Results show that, compared to the actual trajectory, the longitudinal deviation of the planned trajectory is less than 5 m for most drivers, while the lateral deviation is mostly concentrated between 0.77 m and 0.90 m for most drivers. The average minimum headway distance of the planned trajectory increases from 34.39 m to 47.53 m, and the average maximum difference of acceleration decreases from 0.45 m/s2 to 0.17 m/s2, demonstrating the safety and comfort of the planned trajectory. Significant differences exist among the planning trajectories of different types of drivers, validating the correctness of the driving style classification. This research considers the short-time variability of driving style and the differing demands of various driver styles regarding safety and comfort. It can calculate the optimal trajectory for different driving styles, providing theoretical support for enhancing lane-changing comfort and safety.7 tabs, 11 figs, 25 refs.

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备注/Memo

备注/Memo:
收稿日期:2025-01-09
基金项目:陕西省自然科学基础研究计划项目(2024JC-YBMS-338); 陕西省重点研发计划项目(2023-YBGY-138)
作者简介:龙雪琴(1982-),女,湖北荆门人,副教授,工学博士,E-mail:xqlong@chd.edu.cn。
更新日期/Last Update: 2025-07-25