Optimal lateral acceleration driver model based on trajectory prediction

doi:10.3969/j.issn.1674-8484.2023.03.009

Abstract

Abstract:

An optimal lateral acceleration driver model was proposed based on the trajectory prediction to improve the active safety of intelligent vehicles. The model was used to predict the vehicle trajectory with an assumption of the vehicle driving at a constant yaw velocity according to the current vehicle attitude; Determine the ideal steering wheel angle by calculating the lateral deviation after the preview time. The path tracking effect of the model was simulated and analyzed for the driving conditions on the double-shift roads and circular roads; The simulation model was verified by using a series of real vehicle tests. The results show that the maximum tracking lateral deviation of the simulation results is less than 10 cm with the deviation of the real vehicle tests being less than 25 cm at the constant speed of 54 km/h. Therefore, the model can stably follow the target path when the vehicle is traveling, verifying the accuracy of the model.

Key words: active safety, intelligent vehicles, trajectory prediction, look-ahead scheme, optimal lateral acceleration, path tracking, closed-loop simulation, field tests

CLC Number:

U461.6

ZHOU Xing, LIU Fuyun, TANG Zhentian, DENG Jucai. Optimal lateral acceleration driver model based on trajectory prediction[J]. Journal of Automotive Safety and Energy, 2023, 14(3): 338-345.

Figures/Tables 18

References 10

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整车质量, m	1.412 t
质心至前轴的距离, L_a	1.015 m
质心至后轴的距离, L_b	1.895 m
前轮侧偏刚度, k₁	110 kN/rad
后轮侧偏刚度, k₂	110 kN/rad
前轮到转向柱的角传动比, i	15.5
整车绕铅垂轴转动惯量, I_Z	1.527 t

整车质量, m	1.412 t
质心至前轴的距离, L_a	1.015 m
质心至后轴的距离, L_b	1.895 m
前轮侧偏刚度, k₁	110 kN/rad
后轮侧偏刚度, k₂	110 kN/rad
前轮到转向柱的角传动比, i	15.5
整车绕铅垂轴转动惯量, I_Z	1.527 t

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