Abstract
As a dynamic driving process, lane change behavior involves the longitudinal and lateral motion of lane changing vehicles. There is a strong coupling effect between longitudinal and lateral motion, so it is difficult to achieve ideal control effect by single control. This paper constructs a scene in which vehicles accelerate to change lanes on slippery roads, and longitudinal safety model is introduced to measure the longitudinal safety of vehicle following lane changing process. Considering the side-slip phenomenon of lane change vehicles on slippery roads, the classical vehicle “bicycle” model and fixed tire cornering-stiffness are used to evaluate the tire force of vehicles on slippery roads to ensure the lateral safety of lane change vehicle. The nonlinear programing problem of lane-change trajectory planning is established, and the comparison of three solutions is given to plan the optimal lateral and longitudinal lane change acceleration for the vehicle. The simulation results show that the planned lane change trajectory meet the longitudinal and lateral safety objective. By considering the lateral and longitudinal coupling effects, the safety and rationality of lane changing on slippery pavement can be improved, and the deficiency of the existing lane changing trajectory planning model that does not consider the risk of sideslip can be made up.
Published Version
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