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汽车安全与节能学报

汽车安全与节能学报 ›› 2015, Vol. 6 ›› Issue (04): 328-332.DOI: 10.3969/j.issn.1674-8484.2015.04.003

• 汽车安全 • 上一篇    下一篇

基于自然驾驶数据的驾驶员紧急变道行为开环模型

朱西产，刘智超，李霖   

  1. 同济大学 汽车学院，上海201804，中国
  • 收稿日期:2015-07-09 出版日期:2015-12-25 发布日期:2015-12-28
  • 作者简介:第一作者 / First author ： 朱西产(1962—)，男( 汉)，山西，教授。 E-mail: xczhu@163.com 第二作者 / Second author ： 刘智超(1990—)，男( 汉)，内蒙古，硕士研究生。E-mail: changxiangni@163.com
  • 基金资助:

    上海张江国家自主创新示范区专项发展资金项目(2013-10-JD-B2-012)

Open-loop model of drivers’ emergency lane-change behavior#br# based on the naturalistic driving data

ZHU Xichan, LIU Zhichao, LI Lin   

  1. School of Automotive Study, Tongji University, Shanghai 201804, China
  • Received:2015-07-09 Online:2015-12-25 Published:2015-12-28

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摘要：

基于“中国大型实车路试先行实验(China Pilot-FOT)”所采集的自然驾驶数据，提出了一种
开环模型，它可以描述驾驶员紧急变换车道行为。将方向盘转角和方向盘转角变化率作为变道紧急程
度的筛选条件，从中筛选出228 例紧急变换车道工况。基于最大方向盘转角与最大方向盘转角变化率
的线性关系，分析了紧急变换车道的持续时间。利用其中50 百分位驾驶数据，来拟合模型参数。使
用相关性和显著性检验，验证了真实驾驶数据与驾驶计算模型的关系。结果表明：该模型的输出结果
与真实驾驶员操作结果一致性良好。因此，该模型可以描述中国一般驾驶员紧急变道行为。

关键词: 汽车主动安全, 自然驾驶行为, 紧急车道变换, 参数拟合, 驾驶员模型

Abstract:

In order to describe drivers’ behavior when driver takes an emergency lane-change action, an openloop
model was proposed based on the naturalistic driving data which was collected by the program named
China pilot Field Operation Test. Almost 228 lane-change use cases were extracted from the naturalistic driving
data. Steering wheel angle rate combined with steering wheel angle were used as filters to classify the different
emergency degrees of lane-change. The duration of drivers’ emergency lane-change was studied based
on a liner dependency between the maximum values of both steering wheel angle and steering wheel angle
rate. Parameters were fitted by the 50th percentile of the naturalistic driving data collected from lane-change
scenarios .The model can be applied in research of Chinese drivers’ behavior and its values have been proved
by both significant test and correlation test. The results of tests show that coherence of the outputs from real
driver and the model is good, so the model can well describe Chinese drivers’ emergency lane-change behavior.

Key words: automobile active safety, naturalist driving behavior, emergency lane-change, parameter fitting, driver model