Real-time human-like speed planning method for curve entry considering experienced driving behaviors

doi:10.3969/j.issn.1674-8484.2024.03.003

Abstract

Abstract:

A human-like safe-speed-planning method was proposed for vehicle curve entry considering coasting and safe-speed based on the chaos theory and the real curve driving velocity data to improve the safety, the comfort and the travel efficiency of autonomous vehicles. A comfort mode and an efficiency mode were constructed through formulating the curve-entry speed-planning problem of autonomous vehicles as the multi-objective optimization problems. A singularity velocity was defined to simplify the constraint condition with high-order and non-linear characteristics and to improve its computation efficiency. The results show that both the lateral accelerations and the longitudinal accelerations satisfied the friction circle constraint for the proposed strategy, with guaranteeing the driving safety in different curve scenarios. Compared with the method regardless of coasting, the maximum longitudinal acceleration, which are generated by the proposed strategy, was reduced by 9.76% in the comfort mode with the travel efficiency being improved by 61.73%. In the efficiency mode, the longitudinal accelerations values are the acceleration threshold, which satisfy the acceleration constraint with an increase of 88% in traffic efficiency. Therefore, both the comfort mode and the efficiency mode achieve a balance between comfort and travel efficiency.

Key words: autonomous vehicle, coasting driving behaviors, vehicle curve-entry speed, human-like speed planning, multi-objective optimization, coasting driving behaviors, safe speed model

CLC Number:

U469.72

CHEN Qitong, ZHAO Dong, LIU Congzhi, LI Liang. Real-time human-like speed planning method for curve entry considering experienced driving behaviors[J]. Journal of Automotive Safety and Energy, 2024, 15(3): 309-320.

Figures/Tables 19

References 21

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弯道总长s_f	100 m
入弯长度s_fentr	50 m
弯道最大曲率κ_max	20 km^-1
路面附着因数μ	0.9

弯道总长s_f	100 m
入弯长度s_fentr	50 m
弯道最大曲率κ_max	20 km^-1
路面附着因数μ	0.9

工况编号	s_cst / m	a_lim / (m·s^-2)	j_lim / (m·s^-3)
1	100	-3.0	-2.0
2	150	-4.0	-1.5
3	150	-3.0	-2.0
4	200	-3.0	-2.0
5	150	-4.0	—
6	200	-4.0	—
7	250	-4.0	—
8	250	-3.0	-2.0

工况编号	s_cst / m	a_lim / (m·s^-2)	j_lim / (m·s^-3)
1	100	-3.0	-2.0
2	150	-4.0	-1.5
3	150	-3.0	-2.0
4	200	-3.0	-2.0
5	150	-4.0	—
6	200	-4.0	—
7	250	-4.0	—
8	250	-3.0	-2.0

s_cst / m	v₀ / (km·h^-1)	舒适模式，ΔA / (m·s^-2)			效率模式，ΔA / (m·s^-2)			η_T / %
s_cst / m	v₀ / (km·h^-1)	max	RMS	var	max	RMS	var	舒适模式	效率模式
100	36	-0.03	-0.10	-0.05	-1.99	-1.80	-0.06	23.46	88.02
	40	-0.03	0.02	-0.02	-2.07	-1.90	-0.90	2.33	82.85
	50	-0.60	-0.56	-0.11	-2.01	-1.68	-0.29	44.24	67.51
	60	-0.11	-0.17	-0.01	-1.26	-0.95	-0.39	18.73	45.19
150	36	-0.06	-0.32	-0.03	-1.91	-1.58	-0.16	48.99	88.02
	40	-0.05	-0.06	-0.05	-1.96	-1.71	-0.05	16.17	82.85
	50	-0.06	0.20	0.00	-2.03	-1.88	-0.12	3.24	72.21
	60	-0.87	-0.70	-0.19	-1.78	-1.57	-0.23	45.83	61.69
200	36	-0.09	-0.51	0.11	-1.84	-1.39	-0.28	61.73	88.02
	40	-0.09	-0.22	-0.07	-1.83	-1.51	-0.21	37.12	82.85
	50	-0.09	0.33	-0.03	-1.93	-1.79	-0.10	4.14	71.21
	60	-0.04	0.09	0.01	-1.91	-1.80	-0.12	4.26	63.36